ur_driver::driver Namespace Reference

Classes
class	CommanderTCPHandler
class	EOF
class	TCPServer
class	UR5Connection
class	UR5TrajectoryFollower
Functions
def	dumpstacks
def	get_my_ip
def	get_segment_duration
def	getConnectedRobot
def	has_limited_velocities
def	has_velocities
def	interp_cubic
def	joinAll
def	load_joint_offsets
def	log
def	main
def	reorder_traj_joints
def	sample_traj
def	setConnectedRobot
def	traj_is_finite
def	within_tolerance
Variables
	connected_robot = None
tuple	connected_robot_cond = threading.Condition(connected_robot_lock)
tuple	connected_robot_lock = threading.Lock()
list	JOINT_NAMES
dictionary	joint_offsets = {}
int	MSG_JOINT_STATES = 3
int	MSG_MOVEJ = 4
int	MSG_OUT = 1
int	MSG_QUIT = 2
int	MSG_SERVOJ = 7
int	MSG_STOPJ = 6
int	MSG_WAYPOINT_FINISHED = 5
float	MULT_blend = 1000.0
float	MULT_jointstate = 10000.0
float	MULT_time = 1000000.0
int	PORT = 30002
	prevent_programming = False
tuple	pub_joint_states = rospy.Publisher('joint_states', JointState)
list	Q1 = [2.2,0,-1.57,0,0,0]
list	Q2 = [1.5,0,-1.57,0,0,0]
list	Q3 = [1.5,-0.2,-1.57,0,0,0]
string	RESET_PROGRAM
int	REVERSE_PORT = 50001

---

Function Documentation

def ur_driver.driver.dumpstacks

(

)

Definition at line 60 of file driver.py.

def ur_driver.driver.get_my_ip	(		robot_ip,
			port
	)

Definition at line 649 of file driver.py.

def ur_driver.driver.get_segment_duration	(		traj,
			index
	)

Definition at line 363 of file driver.py.

def ur_driver.driver.getConnectedRobot	(		wait = False,
			timeout = -1
	)

Definition at line 229 of file driver.py.

def ur_driver.driver.has_limited_velocities

(

traj

)

Definition at line 426 of file driver.py.

def ur_driver.driver.has_velocities

(

traj

)

Definition at line 433 of file driver.py.

def ur_driver.driver.interp_cubic	(		p0,
			p1,
			t_abs
	)

Definition at line 383 of file driver.py.

def ur_driver.driver.joinAll

(

threads

)

Definition at line 356 of file driver.py.

def ur_driver.driver.load_joint_offsets

(

joint_names

)

Definition at line 635 of file driver.py.

def ur_driver.driver.log

(

s

)

Definition at line 71 of file driver.py.

def ur_driver.driver.main

(

)

Definition at line 655 of file driver.py.

def ur_driver.driver.reorder_traj_joints	(		traj,
			joint_names
	)

Definition at line 370 of file driver.py.

def ur_driver.driver.sample_traj	(		traj,
			t
	)

Definition at line 402 of file driver.py.

def ur_driver.driver.setConnectedRobot

(

r

)

Definition at line 223 of file driver.py.

def ur_driver.driver.traj_is_finite

(

traj

)

Definition at line 416 of file driver.py.

def ur_driver.driver.within_tolerance	(		a_vec,
			b_vec,
			tol_vec
	)

Definition at line 439 of file driver.py.

---

Variable Documentation

ur_driver::driver::connected_robot = None

Definition at line 52 of file driver.py.

tuple ur_driver::driver::connected_robot_cond = threading.Condition(connected_robot_lock)

Definition at line 54 of file driver.py.

tuple ur_driver::driver::connected_robot_lock = threading.Lock()

Definition at line 53 of file driver.py.

list ur_driver::driver::JOINT_NAMES

Initial value:

['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
               'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']

Definition at line 44 of file driver.py.

dictionary ur_driver::driver::joint_offsets = {}

Definition at line 28 of file driver.py.

int ur_driver::driver::MSG_JOINT_STATES = 3

Definition at line 35 of file driver.py.

int ur_driver::driver::MSG_MOVEJ = 4

Definition at line 36 of file driver.py.

int ur_driver::driver::MSG_OUT = 1

Definition at line 33 of file driver.py.

int ur_driver::driver::MSG_QUIT = 2

Definition at line 34 of file driver.py.

int ur_driver::driver::MSG_SERVOJ = 7

Definition at line 39 of file driver.py.

int ur_driver::driver::MSG_STOPJ = 6

Definition at line 38 of file driver.py.

int ur_driver::driver::MSG_WAYPOINT_FINISHED = 5

Definition at line 37 of file driver.py.

float ur_driver::driver::MULT_blend = 1000.0

Definition at line 42 of file driver.py.

float ur_driver::driver::MULT_jointstate = 10000.0

Definition at line 40 of file driver.py.

float ur_driver::driver::MULT_time = 1000000.0

Definition at line 41 of file driver.py.

int ur_driver::driver::PORT = 30002

Definition at line 30 of file driver.py.

ur_driver::driver::prevent_programming = False

Definition at line 21 of file driver.py.

tuple ur_driver::driver::pub_joint_states = rospy.Publisher('joint_states', JointState)

Definition at line 55 of file driver.py.

list ur_driver::driver::Q1 = [2.2,0,-1.57,0,0,0]

Definition at line 47 of file driver.py.

list ur_driver::driver::Q2 = [1.5,0,-1.57,0,0,0]

Definition at line 48 of file driver.py.

list ur_driver::driver::Q3 = [1.5,-0.2,-1.57,0,0,0]

Definition at line 49 of file driver.py.

string ur_driver::driver::RESET_PROGRAM

Initial value:

'''def resetProg():
  sleep(0.0)
end
'''

Definition at line 75 of file driver.py.

int ur_driver::driver::REVERSE_PORT = 50001

Definition at line 31 of file driver.py.