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Added a service to setup the active payload #50

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Merged
merged 2 commits into from
Jul 20, 2020
Merged

Added a service to setup the active payload #50

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3da9ae1
Added a service to setup the active payload
fmauch Nov 27, 2019
03d0cdf
Explicitly set stringstream's locale to classic
fmauch Nov 27, 2019
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4 changes: 4 additions & 0 deletions ur_robot_driver/doc/ROS_INTERFACE.md
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Original file line number Diff line number Diff line change
Expand Up @@ -751,6 +751,10 @@ Service to set any of the robot's IOs
##### set_speed_slider (ur_msgs/SetSpeedSliderFraction)

Set the speed slider fraction used by the robot's execution. Values should be between 0 and 1. Only set this smaller than 1 if you are using the scaled controllers (as by default) or you know what you're doing. Using this with other controllers might lead to unexpected behaviors.

#### set_payload (ur_msgs/SetPayload)

Setup the mounted payload through a ROS service

##### zero_ftsensor ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html))

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1 change: 1 addition & 0 deletions ur_robot_driver/include/ur_robot_driver/ros/hardware_interface.h
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Expand Up @@ -214,6 +214,7 @@ class HardwareInterface : public hardware_interface::RobotHW

ros::ServiceServer deactivate_srv_;
ros::ServiceServer tare_sensor_srv_;
ros::ServiceServer set_payload_srv_;

hardware_interface::JointStateInterface js_interface_;
ur_controllers::ScaledPositionJointInterface spj_interface_;
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15 changes: 15 additions & 0 deletions ur_robot_driver/src/ros/hardware_interface.cpp
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Expand Up @@ -29,6 +29,8 @@
#include "ur_robot_driver/ur/tool_communication.h"
#include <ur_robot_driver/exceptions.h>

#include <ur_msgs/SetPayload.h>

#include <Eigen/Geometry>

using industrial_robot_status_interface::RobotMode;
Expand Down Expand Up @@ -383,6 +385,19 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
ur_driver_->startRTDECommunication();
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");

// Setup the mounted payload through a ROS service
set_payload_srv_ = robot_hw_nh.advertiseService<ur_msgs::SetPayload::Request, ur_msgs::SetPayload::Response>(
"set_payload", [&](ur_msgs::SetPayload::Request& req, ur_msgs::SetPayload::Response& resp) {
std::stringstream cmd;
cmd.imbue(std::locale::classic()); // Make sure, decimal divider is actually '.'
cmd << "sec setup():" << std::endl
<< " set_payload(" << req.payload << ", [" << req.center_of_gravity.x << ", " << req.center_of_gravity.y
<< ", " << req.center_of_gravity.z << "])" << std::endl
Comment on lines +394 to +395
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@gavanderhoorn gavanderhoorn Nov 27, 2019 •
edited
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Is relying on << to convert floats/doubles to string locale -safe?

Could end up with multiple commas in the string, which would probably upset UR's parser.

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I did not think about that. I would never have though about the stream operator using locales in the background.

In a quick example I could not get a stream into locale-like formatting without explicitly setting the locale of the stream. However, to make sure, we could set the string's locale explicitly to classic

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I just want to avoid another ros/urdfdom_headers#41.

If stream io doesn't suffer from this, all the better.

<< "end";
resp.success = this->ur_driver_->sendScript(cmd.str());
return true;
});

return true;
}

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