URControl Class Reference

Inheritance diagram for URControl:

Collaboration diagram for URControl:

Public Member Functions
	URControl (const std::string node_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
virtual bool	moveToTcpPose (double x, double y, double z, double alpha, double beta, double gamma, double vel, double acc)
	Move the robot end-effector to a goal pose (position and orientation) in 3D Cartesian space. More...
virtual bool	open (const double distance=0)
	Open the robot gripper and make it ready for grasping. More...
virtual bool	close (const double distance=0)
	Close the robot gripper and let it grasp an object. More...
bool	urscriptInterface (const std::string command_script)
bool	startLoop ()
	Start control loop.
virtual bool	consume (RTState_V1_6__7 &state)
virtual bool	consume (RTState_V1_8 &state)
virtual bool	consume (RTState_V3_0__1 &state)
virtual bool	consume (RTState_V3_2__3 &state)
virtual void	setupConsumer ()
virtual void	teardownConsumer ()
virtual void	stopConsumer ()
bool	publishJoints (RTShared &packet, rclcpp::Time t)
bool	publish (RTShared &packet)
bool	getTcpPose (RTShared &packet)
void	parseArgs ()
	Parse arguments.
Public Member Functions inherited from ArmControlBase
	ArmControlBase (const std::string node_name, const rclcpp::NodeOptions &options)
	Constructor of class ArmControlBase. More...
virtual	~ArmControlBase ()
	Default destructor of class ArmControlBase.
virtual bool	moveToTcpPose (const Eigen::Isometry3d &pose, double vel, double acc)
	Move the robot end-effector to a goal pose (position and orientation) in 3D Cartesian space. More...
virtual bool	pick (double x, double y, double z, double alpha, double beta, double gamma, double vel, double acc, double vel_scale, double approach)
	Make the robot arm to pick an object from a grasp pose. More...
virtual bool	pick (const geometry_msgs::msg::PoseStamped &pose_stamped, double vel, double acc, double vel_scale, double approach)
	Make the robot arm to pick an object from a grasp pose. More...
virtual bool	place (double x, double y, double z, double alpha, double beta, double gamma, double vel, double acc, double vel_scale, double retract)
	Make the robot arm to place an object from a place pose. More...
virtual bool	place (const geometry_msgs::msg::PoseStamped &pose_stamped, double vel, double acc, double vel_scale, double retract)
	Make the robot arm to place an object from a place pose. More...
void	toTcpPose (const geometry_msgs::msg::PoseStamped &pose_stamped, TcpPose &tcp_pose)
	Convert geometry_msgs::msg::PoseStamped to TcpPose. More...
void	toTcpPose (const Eigen::Isometry3d &pose, TcpPose &tcp_pose)
	Convert Eigen::Isometry3d to TcpPose. More...
virtual bool	checkTcpGoalArrived (Eigen::Isometry3d &tcp_goal)
	Function to check if the end-effector arrived the goal pose. More...

Additional Inherited Members
Protected Attributes inherited from ArmControlBase
rclcpp::Publisher< sensor_msgs::msg::JointState >::SharedPtr	joint_pub_
	Joint state publisher.
std::vector< std::string >	joint_names_
	Joint names.
TcpPose	tcp_pose_
	Current end-effctor pose.
std::mutex	m_
	Mutex to guard the tcp_pose usage.
double	time_out_
	Time duration to finish a pick or place task.

Member Function Documentation

bool URControl::close ( const double  distance = 0 )

virtual

Close the robot gripper and let it grasp an object.

Parameters

distance

How large the fingers of the gripper close.

Returns

If the robot successfully receives the "close" command, return true. Otherwise, return false.

Implements ArmControlBase.

bool URControl::moveToTcpPose ( double  x, double  y, double  z, double  alpha, double  beta, double  gamma, double  vel, double  acc  )

virtual

Move the robot end-effector to a goal pose (position and orientation) in 3D Cartesian space.

Parameters

x	Goal position on X dimension.
y	Goal position on Y dimension.
z	Goal position on Z dimension.
alpha	Goal rotation euler angle along X axis.
beta	Goal rotation euler angle along Y axis.
gamma	Goal rotation euler angle along Z axis.
vel	Max joint velocity.
acc	Max joint acceleration.

Returns

If the robot successfully receives the "move" command, return True. Otherwise, return false.

Implements ArmControlBase.

bool URControl::open ( const double  distance = 0 )

virtual

Open the robot gripper and make it ready for grasping.

Parameters

distance

How large the fingers of the gripper open.

Returns

If the robot successfully receives the "open" command, return true. Otherwise, return false.

Implements ArmControlBase.

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

• include/robot_interface/control_ur.hpp
• src/control_ur.cpp