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Add a set_analog_output service #714

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merged 2 commits into from
Sep 30, 2024
Merged

Add a set_analog_output service #714

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40de419
Add a set_analog_output service
fmauch Jul 19, 2024
d75473f
Fix formatting
fmauch Jul 19, 2024
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3 changes: 3 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 @@ -51,6 +51,7 @@
#include <ur_client_library/control/trajectory_point_interface.h>
#include <ur_msgs/IOStates.h>
#include <ur_msgs/ToolDataMsg.h>
#include <ur_msgs/SetAnalogOutput.h>
#include <ur_msgs/SetIO.h>
#include <ur_msgs/SetSpeedSliderFraction.h>
#include <ur_msgs/SetPayload.h>
Expand Down Expand Up @@ -211,6 +212,7 @@ class HardwareInterface : public hardware_interface::RobotHW

bool setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req, ur_msgs::SetSpeedSliderFractionResponse& res);
bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
bool setAnalogOutput(ur_msgs::SetAnalogOutputRequest& req, ur_msgs::SetAnalogOutputResponse& res);
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);
Expand Down Expand Up @@ -319,6 +321,7 @@ class HardwareInterface : public hardware_interface::RobotHW

ros::ServiceServer set_speed_slider_srv_;
ros::ServiceServer set_io_srv_;
ros::ServiceServer set_analog_output_srv_;
ros::ServiceServer resend_robot_program_srv_;
ros::Subscriber command_sub_;

Expand Down
13 changes: 12 additions & 1 deletion ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -435,8 +435,9 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
// doing. Using this with other controllers might lead to unexpected behaviors.
set_speed_slider_srv_ = robot_hw_nh.advertiseService("set_speed_slider", &HardwareInterface::setSpeedSlider, this);

// Service to set any of the robot's IOs
// Services to set any of the robot's IOs
set_io_srv_ = robot_hw_nh.advertiseService("set_io", &HardwareInterface::setIO, this);
set_analog_output_srv_ = robot_hw_nh.advertiseService("set_analog_output", &HardwareInterface::setAnalogOutput, this);

if (headless_mode)
{
Expand Down Expand Up @@ -1135,6 +1136,16 @@ bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse
return true;
}

bool HardwareInterface::setAnalogOutput(ur_msgs::SetAnalogOutputRequest& req, ur_msgs::SetAnalogOutputResponse& res)
{
if (ur_driver_)
{
res.success = ur_driver_->getRTDEWriter().sendStandardAnalogOutput(
req.data.pin, req.data.state, static_cast<urcl::AnalogOutputType>(req.data.domain));
}
return true;
}

bool HardwareInterface::resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
{
res.success = ur_driver_->sendRobotProgram();
Expand Down