Added controller 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.
This was referenced Oct 8, 2024
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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 ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #940 +/- ##
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+ Coverage 3.59% 5.07% +1.48%
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Files 13 33 +20
Lines 947 3430 +2483
Branches 152 421 +269
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+ Hits 34 174 +140
- Misses 843 3254 +2411
+ Partials 70 2 -68
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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.
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@URJala I gave that a try yesterday and I think the failing tests indicate some unstable state handling in the controller. Could you please have another look that the tests are all succeeding? |
…2_Driver into tool_contact
Compatibility has been checked in prepare already, so we can potentially start all in perform.
urfeex
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ur_controllers/include/ur_controllers/tool_contact_controller.hpp
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ur_controllers/include/ur_controllers/tool_contact_controller.hpp
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Co-authored-by: Felix Exner <[email protected]>
…ctivated. No reason to do it here as well.
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This adds a new controller to enable tool contact mode on the robot. --------- Co-authored-by: Felix Exner <[email protected]> (cherry picked from commit f1863a2) # Conflicts: # ur_robot_driver/src/hardware_interface.cpp # ur_robot_driver/urdf/ur.ros2_control.xacro
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#1337) * This adds a new controller to enable tool contact mode on the robot. * Only append to start_modes in prepare_switch
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Also added service to get robot software version.