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Implemented ROS topic to enable the freedrive mode. #546

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Implemented ROS topic to enable the freedrive mode. #546

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2 changes: 2 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -213,6 +213,7 @@ class HardwareInterface : public hardware_interface::RobotHW
bool resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
bool zeroFTSensor(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
void commandCallback(const std_msgs::StringConstPtr& msg);
void freedriveCallback(const std_msgs::Float64Ptr& msg);

std::unique_ptr<urcl::UrDriver> ur_driver_;
std::unique_ptr<DashboardClientROS> dashboard_client_;
Expand Down Expand Up @@ -315,6 +316,7 @@ class HardwareInterface : public hardware_interface::RobotHW
ros::ServiceServer set_io_srv_;
ros::ServiceServer resend_robot_program_srv_;
ros::Subscriber command_sub_;
ros::Subscriber freedrive_sub_;

industrial_robot_status_interface::RobotStatus robot_status_resource_{};
industrial_robot_status_interface::IndustrialRobotStatusInterface robot_status_interface_{};
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34 changes: 34 additions & 0 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -319,6 +319,7 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
// set_digital_out(0, True)
// end
command_sub_ = robot_hw_nh.subscribe("script_command", 1, &HardwareInterface::commandCallback, this);
freedrive_sub_ = robot_hw_nh.subscribe("enable_freedrive_mode", 1, &HardwareInterface::freedriveCallback, this);

// Names of the joints. Usually, this is given in the controller config file.
if (!robot_hw_nh.getParam("joints", joint_names_))
Expand Down Expand Up @@ -1138,6 +1139,39 @@ end
return true;
}

void HardwareInterface::freedriveCallback(const std_msgs::Float64Ptr& msg)
{
std::stringstream freedrive_script;
freedrive_script << "def freedriveProgram():\n";
freedrive_script << "\t freedrive_mode()\n";
if (msg->data == 0.0)
{
freedrive_script << "\t sleep(3.0)\n";
freedrive_script << "end\n";
}
else
{
freedrive_script << "\t sleep(" << msg->data << ")\n";
freedrive_script << "\t end_freedrive_mode()\n";
freedrive_script << "end\n";
}

if (ur_driver_ == nullptr)
{
throw std::runtime_error("Trying to use the ur_driver_ member before it is initialized. This should not happen, "
"please contact the package maintainer.");
}

if (ur_driver_->sendScript(freedrive_script.str()))
{
ROS_WARN_STREAM("Sent freedrive mode script to robot - you will have to restart the External Control program.");
}
else
{
ROS_ERROR_STREAM("Error sending freedrive mode script to robot");
}
}

void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
{
std::string str = msg->data;
Expand Down