Added service to enable and disable tool contact #940
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Split this pull request into two. This PR now only implements the tool contact functionality and testing of that (Will only work on E-series robots). The get_version service implementation has been moved to PR. |
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Also added service to get robot software version.
This reverts commit f6bf8c6.
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I've tested this today and while it seems to be working well, I think the interface should be improved:
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #940 +/- ##
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+ Coverage 3.59% 3.78% +0.18%
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Files 13 395 +382
Lines 947 43518 +42571
Branches 152 6404 +6252
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+ Hits 34 1645 +1611
- Misses 843 41730 +40887
- Partials 70 143 +73
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Removed tool contact functionality from GPIO controller.
…till untested. I have not done anything with starting and stopping the controller yet.
This exposes an action to execute a trajectory, either until the trajectory is finished or until the "until" condition is met.
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Depends on ur_msgs PR for the action definitions |
Also fixed some little bugs
… motion controllers.
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This is a first review. I haven't reviewed the move_until node in detail. Maybe we can move that to a separate PR for now and only concentrate about force mode in here? Should make it faster to get that one in. And they can be split into two separate problems with ease.
ur_controllers/CMakeLists.txt
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| # | ||
| # trajectory_until_node | ||
| # | ||
| add_executable(trajectory_until_node | ||
| src/trajectory_until_node.cpp | ||
| ) | ||
| ament_target_dependencies(trajectory_until_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
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Debatable, but in my opinion this would belong into the driver's package. We have most other utilities over there, as well.
| // template <typename action_type> | ||
| class TrajectoryUntilNode : public rclcpp::Node | ||
| { | ||
| private: |
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Please have public sorted before private.
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There could be other parameters rather than hard-coded values. e.g. the action monitor rate.
| cancel_res = self._tool_contact_interface.cancel_goal(goal_handle) | ||
| self.assertEqual(cancel_res.return_code, 0) | ||
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| def test_trajectory_until(self, tf_prefix): |
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| def test_trajectory_until(self, tf_prefix): | |
| def test_trajectory_until_tool_contact_without_obstacle_results_in_SUCCESS_and_NOT_TRIGGERED(self, tf_prefix): |
change interface between hardware interface and controller Intermediate commit
Also added service to get robot software version.