This is the main class for interfacing the driver. More...

#include <ur_driver.h>

Public Member Functions
void	checkCalibration (const std::string &checksum)
	Checks if the kinematics information in the used model fits the actual robot. More...

uint32_t	getControlFrequency () const

std::unique_ptr< rtde_interface::DataPackage >	getDataPackage ()
	Access function to receive the latest data package sent from the robot through RTDE interface. More...

std::vector< std::string >	getRTDEOutputRecipe ()
	Getter for the RTDE output recipe used in the RTDE client. More...

rtde_interface::RTDEWriter &	getRTDEWriter ()
	Getter for the RTDE writer used to write to the robot's RTDE interface. More...

const VersionInformation &	getVersion ()
	Returns version information about the currently connected robot. More...

bool	sendRobotProgram ()
	Sends the external control program to the robot. More...

bool	sendScript (const std::string &program)
	Sends a custom script program to the robot. More...

void	setKeepaliveCount (const uint32_t &count)
	Set the Keepalive count. This will set the number of allowed timeout reads on the robot. More...

void	startRTDECommunication ()
	Starts the RTDE communication. More...

bool	stopControl ()
	Sends a stop command to the socket interface which will signal the program running on the robot to no longer listen for commands sent from the remote pc. More...

	UrDriver (const std::string &robot_ip, const std::string &script_file, const std::string &output_recipe_file, const std::string &input_recipe_file, std::function< void(bool)> handle_program_state, bool headless_mode, std::unique_ptr< ToolCommSetup > tool_comm_setup, const std::string &calibration_checksum="", const uint32_t reverse_port=50001, const uint32_t script_sender_port=50002, int servoj_gain=2000, double servoj_lookahead_time=0.03, bool non_blocking_read=false)
	Constructs a new UrDriver object. Upon initialization this class will check the calibration checksum reported from the robot and compare it to a checksum given by the user. If the checksums don't match, the driver will output an error message. This is critical if you want to do forward or inverse kinematics based on the model that the given calibration checksum matches to. More...

	UrDriver (const std::string &robot_ip, const std::string &script_file, const std::string &output_recipe_file, const std::string &input_recipe_file, std::function< void(bool)> handle_program_state, bool headless_mode, const std::string &calibration_checksum="", const uint32_t reverse_port=50001, const uint32_t script_sender_port=50002, int servoj_gain=2000, double servoj_lookahead_time=0.03, bool non_blocking_read=false)
	Constructs a new UrDriver object. More...

bool	writeJointCommand (const vector6d_t &values, const comm::ControlMode control_mode)
	Writes a joint command together with a keepalive signal onto the socket being sent to the robot. More...

bool	writeKeepalive ()
	Write a keepalive signal only. More...

virtual	~UrDriver ()=default

Private Member Functions
std::string	readScriptFile (const std::string &filename)

Private Attributes
std::string	full_robot_program_

int	get_packet_timeout_

std::function< void(bool)>	handle_program_state_

bool	in_headless_mode_

bool	non_blocking_read_

comm::INotifier	notifier_

std::unique_ptr< comm::URStream< primary_interface::PrimaryPackage > >	primary_stream_

std::unique_ptr< comm::ReverseInterface >	reverse_interface_

std::string	robot_ip_

VersionInformation	robot_version_

std::unique_ptr< rtde_interface::RTDEClient >	rtde_client_

int	rtde_frequency_

std::unique_ptr< comm::ScriptSender >	script_sender_

std::unique_ptr< comm::URStream< primary_interface::PrimaryPackage > >	secondary_stream_

uint32_t	servoj_gain_

double	servoj_lookahead_time_

double	servoj_time_

Detailed Description

This is the main class for interfacing the driver.

It sets up all the necessary socket connections and handles the data exchange with the robot. Use this classes methods to access and write data.

Definition at line 49 of file ur_driver.h.

Constructor & Destructor Documentation

urcl::UrDriver::UrDriver	(	const std::string &	robot_ip,
		const std::string &	script_file,
		const std::string &	output_recipe_file,
		const std::string &	input_recipe_file,
		std::function< void(bool)>	handle_program_state,
		bool	headless_mode,
		std::unique_ptr< ToolCommSetup >	tool_comm_setup,
		const std::string &	calibration_checksum = `""`,
		const uint32_t	reverse_port = `50001`,
		const uint32_t	script_sender_port = `50002`,
		int	servoj_gain = `2000`,
		double	servoj_lookahead_time = `0.03`,
		bool	non_blocking_read = `false`
	)

Constructs a new UrDriver object. Upon initialization this class will check the calibration checksum reported from the robot and compare it to a checksum given by the user. If the checksums don't match, the driver will output an error message. This is critical if you want to do forward or inverse kinematics based on the model that the given calibration checksum matches to.

An RTDE connection to the robot will be established using the given recipe files. However, RTDE communication will not be started automatically, as this requires an external structure to read data from the RTDE client using the getDataPackage() method periodically. Once this is setup, please use the startRTDECommunication() method to actually start RTDE communication.

Furthermore, initialization creates a ScriptSender member object that will read a URScript file from script_file, perform a number of replacements to populate the script with dynamic data. See the implementation for details.

Parameters

robot_ip	IP-address under which the robot is reachable.
script_file	URScript file that should be sent to the robot.
output_recipe_file	Filename where the output recipe is stored in.
input_recipe_file	Filename where the input recipe is stored in.
handle_program_state	Function handle to a callback on program state changes. For this to work, the URScript program will have to send keepalive signals to the `reverse_port`. I no keepalive signal can be read, program state will be false.
headless_mode	Parameter to control if the driver should be started in headless mode.
tool_comm_setup	Configuration for using the tool communication.
calibration_checksum	Expected checksum of calibration. Will be matched against the calibration reported by the robot.
reverse_port	Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
script_sending_port	The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
non_blocking_read	Enable non-blocking mode for read (useful when used with combined_robot_hw)
servoj_gain	Proportional gain for arm joints following target position, range [100,2000]
servoj_lookahead_time	Time [S], range [0.03,0.2] smoothens the trajectory with this lookahead time

Definition at line 50 of file ur_driver.cpp.

urcl::UrDriver::UrDriver	(	const std::string &	robot_ip,
		const std::string &	script_file,
		const std::string &	output_recipe_file,
		const std::string &	input_recipe_file,
		std::function< void(bool)>	handle_program_state,
		bool	headless_mode,
		const std::string &	calibration_checksum = `""`,
		const uint32_t	reverse_port = `50001`,
		const uint32_t	script_sender_port = `50002`,
		int	servoj_gain = `2000`,
		double	servoj_lookahead_time = `0.03`,
		bool	non_blocking_read = `false`
	)

inline

Constructs a new UrDriver object.

Parameters

robot_ip	IP-address under which the robot is reachable.
script_file	URScript file that should be sent to the robot.
output_recipe_file	Filename where the output recipe is stored in.
input_recipe_file	Filename where the input recipe is stored in.
handle_program_state	Function handle to a callback on program state changes. For this to work, the URScript program will have to send keepalive signals to the `reverse_port`. I no keepalive signal can be read, program state will be false.
headless_mode	Parameter to control if the driver should be started in headless mode.
calibration_checksum	Expected checksum of calibration. Will be matched against the calibration reported by the robot.
reverse_port	Port that will be opened by the driver to allow direct communication between the driver and the robot controller
script_sending_port	The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
non_blocking_read	Enable non-blocking mode for read (useful when used with combined_robot_hw)
servoj_gain	Proportional gain for arm joints following target position, range [100,2000]
servoj_lookahead_time	Time [S], range [0.03,0.2] smoothens the trajectory with this lookahead time

Definition at line 113 of file ur_driver.h.

virtual urcl::UrDriver::~UrDriver ( )

virtualdefault

Member Function Documentation

void urcl::UrDriver::checkCalibration ( const std::string & checksum )

Checks if the kinematics information in the used model fits the actual robot.

Parameters

checksum Hash of the used kinematics information

Definition at line 196 of file ur_driver.cpp.

uint32_t urcl::UrDriver::getControlFrequency ( ) const

inline

Definition at line 135 of file ur_driver.h.

std::unique_ptr< rtde_interface::DataPackage > urcl::UrDriver::getDataPackage ( )

Access function to receive the latest data package sent from the robot through RTDE interface.

Returns: The latest data package on success, a nullptr if no package can be found inside a preconfigured time window.

Definition at line 156 of file ur_driver.cpp.

std::vector< std::string > urcl::UrDriver::getRTDEOutputRecipe ( )

Getter for the RTDE output recipe used in the RTDE client.

Returns: The used RTDE output recipe

Definition at line 264 of file ur_driver.cpp.

rtde_interface::RTDEWriter & urcl::UrDriver::getRTDEWriter ( )

Getter for the RTDE writer used to write to the robot's RTDE interface.

Returns: The active RTDE writer

Definition at line 220 of file ur_driver.cpp.

const VersionInformation& urcl::UrDriver::getVersion ( )

inline

Returns version information about the currently connected robot.

Definition at line 214 of file ur_driver.h.

std::string urcl::UrDriver::readScriptFile ( const std::string & filename )

private

Definition at line 188 of file ur_driver.cpp.

bool urcl::UrDriver::sendRobotProgram ( )

Sends the external control program to the robot.

Only for use in headless mode, as it replaces the use of the URCaps program.

Returns: true on successful upload, false otherwise

Definition at line 251 of file ur_driver.cpp.

bool urcl::UrDriver::sendScript ( const std::string & program )

Sends a custom script program to the robot.

The given code must be valid according the UR Scripting Manual.

Parameters

program URScript code that shall be executed by the robot.

Returns: true on successful upload, false otherwise.

Definition at line 225 of file ur_driver.cpp.

void urcl::UrDriver::setKeepaliveCount ( const uint32_t & count )

Set the Keepalive count. This will set the number of allowed timeout reads on the robot.

Parameters

count Number of allowed timeout reads on the robot.

Definition at line 269 of file ur_driver.cpp.

void urcl::UrDriver::startRTDECommunication ( )

Starts the RTDE communication.

After initialization, the cyclic RTDE communication is not started automatically, so that data consumers can be started also at a later point.

Definition at line 177 of file ur_driver.cpp.

bool urcl::UrDriver::stopControl ( )

Sends a stop command to the socket interface which will signal the program running on the robot to no longer listen for commands sent from the remote pc.

Returns: True on successful write.

Definition at line 182 of file ur_driver.cpp.

bool urcl::UrDriver::writeJointCommand	(	const vector6d_t &	values,
		const comm::ControlMode	control_mode
	)

Writes a joint command together with a keepalive signal onto the socket being sent to the robot.

Parameters

values	Desired joint positions
control_mode	Control mode this command is assigned to.

Returns: True on successful write.

Definition at line 166 of file ur_driver.cpp.

bool urcl::UrDriver::writeKeepalive ( )

Write a keepalive signal only.

This signals the robot that the connection is still active in times when no commands are to be sent (e.g. no controller is active.)

Returns: True on successful write.

Definition at line 171 of file ur_driver.cpp.

Member Data Documentation

std::string urcl::UrDriver::full_robot_program_

private

Definition at line 252 of file ur_driver.h.

int urcl::UrDriver::get_packet_timeout_

private

Definition at line 254 of file ur_driver.h.

std::function<void(bool)> urcl::UrDriver::handle_program_state_

private

Definition at line 248 of file ur_driver.h.

bool urcl::UrDriver::in_headless_mode_

private

Definition at line 251 of file ur_driver.h.

bool urcl::UrDriver::non_blocking_read_

private

Definition at line 255 of file ur_driver.h.

comm::INotifier urcl::UrDriver::notifier_

private

Definition at line 237 of file ur_driver.h.

std::unique_ptr<comm::URStream<primary_interface::PrimaryPackage> > urcl::UrDriver::primary_stream_

private

Definition at line 241 of file ur_driver.h.

std::unique_ptr<comm::ReverseInterface> urcl::UrDriver::reverse_interface_

private

Definition at line 239 of file ur_driver.h.

std::string urcl::UrDriver::robot_ip_

private

Definition at line 250 of file ur_driver.h.

VersionInformation urcl::UrDriver::robot_version_

private

Definition at line 257 of file ur_driver.h.

std::unique_ptr<rtde_interface::RTDEClient> urcl::UrDriver::rtde_client_

private

Definition at line 238 of file ur_driver.h.

int urcl::UrDriver::rtde_frequency_

private

Definition at line 236 of file ur_driver.h.

std::unique_ptr<comm::ScriptSender> urcl::UrDriver::script_sender_

private

Definition at line 240 of file ur_driver.h.

std::unique_ptr<comm::URStream<primary_interface::PrimaryPackage> > urcl::UrDriver::secondary_stream_

private

Definition at line 242 of file ur_driver.h.

uint32_t urcl::UrDriver::servoj_gain_

private

Definition at line 245 of file ur_driver.h.

double urcl::UrDriver::servoj_lookahead_time_

private

Definition at line 246 of file ur_driver.h.

double urcl::UrDriver::servoj_time_

private

Definition at line 244 of file ur_driver.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation