Class URPositionHardwareInterface

Defined in File hardware_interface.hpp

Inheritance Relationships

Base Type

public hardware_interface::SystemInterface

Class Documentation

class URPositionHardwareInterface : public hardware_interface::SystemInterface

The HardwareInterface class handles the interface between the ROS system and the main driver. It contains the read and write methods of the main control loop and registers various ROS topics and services.

Public Functions

RCLCPP_SHARED_PTR_DEFINITIONS(URPositionHardwareInterface)

virtual ~URPositionHardwareInterface()

hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo &system_info) final

std::vector<hardware_interface::StateInterface> export_state_interfaces() final

std::vector<hardware_interface::CommandInterface> export_command_interfaces() final

hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) final

hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) final

hardware_interface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &previous_state) final

hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) final

hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) final

hardware_interface::return_type prepare_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) final

hardware_interface::return_type perform_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) final

void handleRobotProgramState(bool program_running)

Callback to handle a change in the current state of the URCaps program running on the robot. Executed only on the state change.

Parameters:: program_running – True when the URCap program is running on the robot.

void asyncThread()

Public Static Attributes

static constexpr double NO_NEW_CMD_ = std::numeric_limits<double>::quiet_NaN()

Protected Functions

template<typename T> void readData(const std::unique_ptr<urcl::rtde_interface::DataPackage> &data_pkg, const std::string &var_name, T &data)

template<typename T, size_t N> void readBitsetData(const std::unique_ptr<urcl::rtde_interface::DataPackage> &data_pkg, const std::string &var_name, std::bitset<N> &data)

void initAsyncIO()

void checkAsyncIO()

void updateNonDoubleValues()

void extractToolPose()

void transformForceTorque()

void start_force_mode()

void stop_force_mode()

void check_passthrough_trajectory_controller()

void trajectory_done_callback(urcl::control::TrajectoryResult result)

bool has_accelerations(std::vector<std::array<double, 6>> accelerations)

bool has_velocities(std::vector<std::array<double, 6>> velocities)

Protected Attributes

urcl::vector6d_t urcl_position_commands_

urcl::vector6d_t urcl_position_commands_old_

urcl::vector6d_t urcl_velocity_commands_

urcl::vector6d_t urcl_joint_positions_

urcl::vector6d_t urcl_joint_velocities_

urcl::vector6d_t urcl_joint_efforts_

urcl::vector6d_t urcl_ft_sensor_measurements_

urcl::vector6d_t urcl_tcp_pose_

tf2::Quaternion tcp_rotation_quat_

Quaternion tcp_rotation_buffer

bool packet_read_

uint32_t runtime_state_

bool controllers_initialized_

std::bitset<18> actual_dig_out_bits_

std::bitset<18> actual_dig_in_bits_

std::array<double, 2> standard_analog_input_

std::array<double, 2> standard_analog_output_

std::bitset<4> analog_io_types_

uint32_t tool_mode_

std::bitset<2> tool_analog_input_types_

std::array<double, 2> tool_analog_input_

int32_t tool_output_voltage_

double tool_output_current_

double tool_temperature_

double speed_scaling_

double target_speed_fraction_

double speed_scaling_combined_

int32_t robot_mode_

int32_t safety_mode_

std::bitset<4> robot_status_bits_

std::bitset<11> safety_status_bits_

tf2::Vector3 tcp_force_

tf2::Vector3 tcp_torque_

std::array<double, 18> standard_dig_out_bits_cmd_

std::array<double, 2> standard_analog_output_cmd_

double analog_output_domain_cmd_

double tool_voltage_cmd_

double io_async_success_

double target_speed_fraction_cmd_

double scaling_async_success_

double resend_robot_program_cmd_

double resend_robot_program_async_success_

double zero_ftsensor_cmd_

double zero_ftsensor_async_success_

double hand_back_control_cmd_

double hand_back_control_async_success_

bool first_pass_

bool initialized_

double system_interface_initialized_

std::atomic_bool async_thread_shutdown_

double get_robot_software_version_major_

double get_robot_software_version_minor_

double get_robot_software_version_bugfix_

double get_robot_software_version_build_

bool freedrive_activated_

bool freedrive_mode_controller_running_

double freedrive_mode_async_success_

double freedrive_mode_enable_

double freedrive_mode_abort_

double passthrough_trajectory_transfer_state_

double passthrough_trajectory_abort_

bool passthrough_trajectory_controller_running_

urcl::vector6d_t passthrough_trajectory_positions_

urcl::vector6d_t passthrough_trajectory_velocities_

urcl::vector6d_t passthrough_trajectory_accelerations_

double passthrough_trajectory_time_from_start_

urcl::vector3d_t payload_center_of_gravity_

double payload_mass_

double payload_async_success_

urcl::vector6d_t force_mode_task_frame_

urcl::vector6d_t force_mode_selection_vector_

urcl::vector6uint32_t force_mode_selection_vector_copy_

urcl::vector6d_t force_mode_wrench_

urcl::vector6d_t force_mode_limits_

double force_mode_type_

double force_mode_async_success_

double force_mode_disable_cmd_

double force_mode_damping_

double force_mode_gain_scaling_

std::array<double, 18> actual_dig_out_bits_copy_

std::array<double, 18> actual_dig_in_bits_copy_

std::array<double, 4> analog_io_types_copy_

double tool_mode_copy_

std::array<double, 2> tool_analog_input_types_copy_

double tool_output_voltage_copy_

double robot_mode_copy_

double safety_mode_copy_

std::array<double, 4> robot_status_bits_copy_

std::array<double, 11> safety_status_bits_copy_

bool robot_program_running_

bool non_blocking_read_

double robot_program_running_copy_

std::vector<std::array<double, 6>> trajectory_joint_positions_

std::vector<std::array<double, 6>> trajectory_joint_velocities_

std::vector<std::array<double, 6>> trajectory_joint_accelerations_

std::vector<double> trajectory_times_

PausingState pausing_state_

double pausing_ramp_up_increment_

std::vector<std::vector<uint>> stop_modes_

std::vector<std::vector<std::string>> start_modes_

bool position_controller_running_

bool velocity_controller_running_

bool force_mode_controller_running_ = false

std::unique_ptr<urcl::UrDriver> ur_driver_

std::shared_ptr<std::thread> async_thread_

std::atomic_bool rtde_comm_has_been_started_ = false

urcl::RobotReceiveTimeout receive_timeout_ = urcl::RobotReceiveTimeout::millisec(20)

const std::string PASSTHROUGH_GPIO = "trajectory_passthrough"

const std::string FORCE_MODE_GPIO = "force_mode"

const std::string FREEDRIVE_MODE_GPIO = "freedrive_mode"