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Backport: Change driver constructor and change calibration check (#282) #302

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merged 2 commits into from Feb 23, 2022
Merged

Backport: Change driver constructor and change calibration check (#282) #302

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2286e2d
Change driver constructor and change calibration check (#282)
livanov93 Feb 23, 2022
735bf07
fix loading the kinematics hash without quotes
fmauch Feb 23, 2022
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2 changes: 1 addition & 1 deletion ur_description/urdf/ur.ros2_control.xacro
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Expand Up @@ -29,7 +29,7 @@
<param name="servoj_gain">2000</param>
<param name="servoj_lookahead_time">0.03</param>
<param name="use_tool_communication">0</param>
<param name="kinematics/hash">"${hash_kinematics}"</param>
<param name="kinematics/hash">${hash_kinematics}</param>
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<param name="tool_voltage">0</param>
<param name="tool_parity">0</param>
<param name="tool_baud_rate">115200</param>
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26 changes: 24 additions & 2 deletions ur_robot_driver/src/hardware_interface.cpp
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Expand Up @@ -341,8 +341,8 @@ return_type URPositionHardwareInterface::start()
ur_driver_ = std::make_unique<urcl::UrDriver>(
robot_ip, script_filename, output_recipe_filename, input_recipe_filename,
std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
std::move(tool_comm_setup), calibration_checksum, (uint32_t)reverse_port, (uint32_t)script_sender_port,
servoj_gain, servoj_lookahead_time, non_blocking_read_);
std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
servoj_lookahead_time, non_blocking_read_);
} catch (urcl::ToolCommNotAvailable& e) {
RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), "See parameter use_tool_communication");

Expand All @@ -351,6 +351,28 @@ return_type URPositionHardwareInterface::start()
RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), e.what());
return return_type::ERROR;
}
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Calibration checksum: '%s'.",
calibration_checksum.c_str());
// check calibration
// https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/c3378599d5fa73a261328b326392e847f312ab6b/ur_robot_driver/src/hardware_interface.cpp#L296-L309
if (ur_driver_->checkCalibration(calibration_checksum)) {
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Calibration checked successfully.");
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), "The calibration parameters of the "
"connected robot don't match the ones from "
"the given kinematics "
"config file. Please be aware that this can "
"lead to critical inaccuracies of tcp "
"positions. Use "
"the ur_calibration tool to extract the "
"correct calibration from the robot and "
"pass that into the "
"description. See "
"[https://github.com/UniversalRobots/"
"Universal_Robots_ROS_Driver#extract-"
"calibration-information] "
"for details.");
}

ur_driver_->startRTDECommunication();

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