ur_driver::driver Namespace Reference

Classes
class	CommanderTCPHandler
class	EOF
class	TCPServer
class	URConnection
class	URConnectionRT
class	URServiceProvider
class	URTrajectoryFollower
Functions
def	dumpstacks
def	get_my_ip
def	get_segment_duration
def	getConnectedRobot
def	handle_set_io
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	set_io_server
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()
int	DEFAULT_REVERSE_PORT = 50001
	DigitalIn = Digital
	DigitalOut = Digital
	Flag = Digital
int	FUN_SET_ANALOG_OUT = 3
int	FUN_SET_DIGITAL_OUT = 1
int	FUN_SET_FLAG = 2
int	FUN_SET_TOOL_VOLTAGE = 4
float	IO_SLEEP_TIME = 0.05
list	JOINT_NAMES
dictionary	joint_offsets = {}
	last_joint_states = None
tuple	last_joint_states_lock = threading.Lock()
float	MAX_PAYLOAD = 1.0
float	MAX_VELOCITY = 10.0
float	MIN_PAYLOAD = 0.0
int	MSG_GET_IO = 11
int	MSG_JOINT_STATES = 3
int	MSG_MOVEJ = 4
int	MSG_OUT = 1
int	MSG_QUIT = 2
int	MSG_SERVOJ = 7
int	MSG_SET_ANALOG_OUT = 14
int	MSG_SET_DIGITAL_OUT = 10
int	MSG_SET_FLAG = 12
int	MSG_SET_PAYLOAD = 8
int	MSG_SET_TOOL_VOLTAGE = 13
int	MSG_STOPJ = 6
int	MSG_WAYPOINT_FINISHED = 5
int	MSG_WRENCH = 9
float	MULT_analog = 1000000.0
float	MULT_analog_robotstate = 0.1
float	MULT_blend = 1000.0
float	MULT_jointstate = 10000.0
float	MULT_payload = 1000.0
float	MULT_time = 1000000.0
float	MULT_wrench = 10000.0
int	PORT = 30002
	prevent_programming = False
tuple	pub_io_states = rospy.Publisher('io_states', IOStates)
tuple	pub_joint_states = rospy.Publisher('joint_states', JointState)
tuple	pub_wrench = rospy.Publisher('wrench', WrenchStamped)
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	RT_PORT = 30003

---

Function Documentation

def ur_driver.driver.dumpstacks

(

)

Definition at line 102 of file driver.py.

def ur_driver.driver.get_my_ip	(		robot_ip,
			port
	)

Definition at line 870 of file driver.py.

def ur_driver.driver.get_segment_duration	(		traj,
			index
	)

Definition at line 557 of file driver.py.

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

Definition at line 392 of file driver.py.

def ur_driver.driver.handle_set_io

(

req

)

Definition at line 876 of file driver.py.

def ur_driver.driver.has_limited_velocities

(

traj

)

Definition at line 620 of file driver.py.

def ur_driver.driver.has_velocities

(

traj

)

Definition at line 627 of file driver.py.

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

Definition at line 577 of file driver.py.

def ur_driver.driver.joinAll

(

threads

)

Definition at line 550 of file driver.py.

def ur_driver.driver.load_joint_offsets

(

joint_names

)

Definition at line 849 of file driver.py.

def ur_driver.driver.log

(

s

)

Definition at line 113 of file driver.py.

def ur_driver.driver.main

(

)

Definition at line 897 of file driver.py.

def ur_driver.driver.reorder_traj_joints	(		traj,
			joint_names
	)

Definition at line 564 of file driver.py.

def ur_driver.driver.sample_traj	(		traj,
			t
	)

Definition at line 596 of file driver.py.

def ur_driver.driver.set_io_server

(

)

Definition at line 894 of file driver.py.

def ur_driver.driver.setConnectedRobot

(

r

)

Definition at line 386 of file driver.py.

def ur_driver.driver.traj_is_finite

(

traj

)

Definition at line 610 of file driver.py.

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

Definition at line 633 of file driver.py.

---

Variable Documentation

ur_driver::driver::connected_robot = None

Definition at line 90 of file driver.py.

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

Definition at line 92 of file driver.py.

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

Definition at line 91 of file driver.py.

int ur_driver::driver::DEFAULT_REVERSE_PORT = 50001

Definition at line 41 of file driver.py.

ur_driver::driver::DigitalIn = Digital

Definition at line 26 of file driver.py.

ur_driver::driver::DigitalOut = Digital

Definition at line 27 of file driver.py.

ur_driver::driver::Flag = Digital

Definition at line 28 of file driver.py.

int ur_driver::driver::FUN_SET_ANALOG_OUT = 3

Definition at line 77 of file driver.py.

int ur_driver::driver::FUN_SET_DIGITAL_OUT = 1

Definition at line 75 of file driver.py.

int ur_driver::driver::FUN_SET_FLAG = 2

Definition at line 76 of file driver.py.

int ur_driver::driver::FUN_SET_TOOL_VOLTAGE = 4

Definition at line 78 of file driver.py.

float ur_driver::driver::IO_SLEEP_TIME = 0.05

Definition at line 80 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 82 of file driver.py.

dictionary ur_driver::driver::joint_offsets = {}

Definition at line 37 of file driver.py.

ur_driver::driver::last_joint_states = None

Definition at line 93 of file driver.py.

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

Definition at line 94 of file driver.py.

float ur_driver::driver::MAX_PAYLOAD = 1.0

Definition at line 71 of file driver.py.

float ur_driver::driver::MAX_VELOCITY = 10.0

Definition at line 66 of file driver.py.

float ur_driver::driver::MIN_PAYLOAD = 0.0

Definition at line 70 of file driver.py.

int ur_driver::driver::MSG_GET_IO = 11

Definition at line 53 of file driver.py.

int ur_driver::driver::MSG_JOINT_STATES = 3

Definition at line 45 of file driver.py.

int ur_driver::driver::MSG_MOVEJ = 4

Definition at line 46 of file driver.py.

int ur_driver::driver::MSG_OUT = 1

Definition at line 43 of file driver.py.

int ur_driver::driver::MSG_QUIT = 2

Definition at line 44 of file driver.py.

int ur_driver::driver::MSG_SERVOJ = 7

Definition at line 49 of file driver.py.

int ur_driver::driver::MSG_SET_ANALOG_OUT = 14

Definition at line 56 of file driver.py.

int ur_driver::driver::MSG_SET_DIGITAL_OUT = 10

Definition at line 52 of file driver.py.

int ur_driver::driver::MSG_SET_FLAG = 12

Definition at line 54 of file driver.py.

int ur_driver::driver::MSG_SET_PAYLOAD = 8

Definition at line 50 of file driver.py.

int ur_driver::driver::MSG_SET_TOOL_VOLTAGE = 13

Definition at line 55 of file driver.py.

int ur_driver::driver::MSG_STOPJ = 6

Definition at line 48 of file driver.py.

int ur_driver::driver::MSG_WAYPOINT_FINISHED = 5

Definition at line 47 of file driver.py.

int ur_driver::driver::MSG_WRENCH = 9

Definition at line 51 of file driver.py.

float ur_driver::driver::MULT_analog = 1000000.0

Definition at line 62 of file driver.py.

float ur_driver::driver::MULT_analog_robotstate = 0.1

Definition at line 63 of file driver.py.

float ur_driver::driver::MULT_blend = 1000.0

Definition at line 61 of file driver.py.

float ur_driver::driver::MULT_jointstate = 10000.0

Definition at line 59 of file driver.py.

float ur_driver::driver::MULT_payload = 1000.0

Definition at line 57 of file driver.py.

float ur_driver::driver::MULT_time = 1000000.0

Definition at line 60 of file driver.py.

float ur_driver::driver::MULT_wrench = 10000.0

Definition at line 58 of file driver.py.

int ur_driver::driver::PORT = 30002

Definition at line 39 of file driver.py.

ur_driver::driver::prevent_programming = False

Definition at line 30 of file driver.py.

tuple ur_driver::driver::pub_io_states = rospy.Publisher('io_states', IOStates)

Definition at line 97 of file driver.py.

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

Definition at line 95 of file driver.py.

tuple ur_driver::driver::pub_wrench = rospy.Publisher('wrench', WrenchStamped)

Definition at line 96 of file driver.py.

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

Definition at line 85 of file driver.py.

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

Definition at line 86 of file driver.py.

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

Definition at line 87 of file driver.py.

string ur_driver::driver::RESET_PROGRAM

Initial value:

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

Definition at line 117 of file driver.py.

int ur_driver::driver::RT_PORT = 30003

Definition at line 40 of file driver.py.