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Implement and test read arm state over Fast Robot Interface (FRI) #12

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astrick3 opened this issue Feb 5, 2015 · 3 comments
Closed

Implement and test read arm state over Fast Robot Interface (FRI) #12

astrick3 opened this issue Feb 5, 2015 · 3 comments
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@ahundt
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7 - Released size 3
Milestone
Sprint 2-3 - Init...

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@astrick3
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astrick3 commented Feb 5, 2015

Depends on #11
@ShahriarSefati ShahriarSefati modified the milestone: Sprint 2 - Initial Arm Integration Feb 5, 2015
@ahundt ahundt removed the 0 - Backlog label Feb 5, 2015
@ahundt ahundt self-assigned this Feb 19, 2015
@ahundt ahundt added the size 3 label Feb 19, 2015
@astrick3 astrick3 mentioned this issue Feb 19, 2015
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@ahundt ahundt mentioned this issue Feb 19, 2015
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ahundt added a commit that referenced this issue Mar 1, 2015
@ahundt
#12 INTERMEDIATE CODE: initial implementation of FRI interface, not q…
9e96233 
…uite complete and does not compile
ahundt added a commit that referenced this issue Mar 5, 2015
@ahundt
#12 INTERMEDIATE CODE: KukaFRI.hpp now compiles, and there is a file …
7a64cf7 
…created that will store the test. However, not all components are functional yet.
ahundt added a commit that referenced this issue Mar 5, 2015
@ahundt
#12 INTERMEDIATE CODE: simplified API by directly using MonitoringMes…
0a094ba 
…sage rather than requiring KUKA::FRI::ClientData
ahundt added a commit that referenced this issue Mar 5, 2015
@ahundt
#12 INTERMEDIATE CODE: correct buffer sizes now passed around
27984fc
ahundt added a commit that referenced this issue Mar 5, 2015
@ahundt
#12 ready for read only test, writing definitely won't work properly
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astrick3 added a commit that referenced this issue Mar 5, 2015
@astrick3
#12 added Java implementation of testing monitor mode over FRI
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ahundt added a commit that referenced this issue Mar 6, 2015
@ahundt
#12 substantially simplify functions to copy joint states
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ahundt added a commit that referenced this issue Mar 6, 2015
@ahundt
#12 minor additional simplification
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ahundt added a commit that referenced this issue Mar 6, 2015
@ahundt
#12 initial work towards async kuka driver and build files for linux
e7475af
ahundt added a commit that referenced this issue Mar 6, 2015
@ahundt
Rename vrepPath.fbs to VrepPath.fbs
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#12
ahundt added a commit that referenced this issue Mar 6, 2015
@ahundt
#12 instructions to run in docker on linux almost work
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ahundt added a commit that referenced this issue Mar 6, 2015
@ahundt
#12 more docker info
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ahundt added a commit that referenced this issue Mar 6, 2015
@ahundt
#12 added missing include
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ahundt added a commit that referenced this issue Mar 10, 2015
@ahundt
#12 docker script instructions improved
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ahundt added a commit that referenced this issue Mar 10, 2015
@ahundt
#12 additional docker setup instructions improvement
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ahundt added a commit that referenced this issue Mar 12, 2015
@ahundt
#12 fixed compiler and linker errors on linux
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ahundt added a commit that referenced this issue Mar 14, 2015
@ahundt
#12 revamp kuka api to use generic programming more effectively in th…
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…e style of boost::geometry
ahundt added a commit that referenced this issue Mar 14, 2015
@ahundt
#12 created base types for async driver
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ahundt added a commit that referenced this issue Mar 14, 2015
@ahundt
#12 overall design of async FRI part of driver is nearly done, as is …
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…implementation. Substantial integration work is still required.
ahundt added a commit that referenced this issue Mar 15, 2015
@ahundt
#12 more docker info
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ahundt added a commit that referenced this issue Mar 15, 2015
@ahundt
#12 read only async driver implemented
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ahundt added a commit that referenced this issue Mar 15, 2015
@ahundt
#12 updated test code to have a reasonable default, fixed warning in …
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…KukaFRI.hpp
ahundt added a commit that referenced this issue Mar 16, 2015
@ahundt
#12 synchronous driver now tested and verified to correctly receive data
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ahundt added a commit that referenced this issue Mar 16, 2015
@ahundt
#12 async FRI kuka driver component's initial implementation complete
82f52c0
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ahundt commented Mar 16, 2015

Test of the basic synchronous version was successful, now need to test async version.

@ahundt ahundt mentioned this issue Mar 16, 2015
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@astrick3 astrick3 mentioned this issue Mar 16, 2015
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ahundt added a commit that referenced this issue Mar 17, 2015
@ahundt
#12 INTERMEDIATE CODE does not compile, first attempt at compiling as…
3dce48e 
…ync kuka drivers
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ahundt commented Mar 21, 2015

We are able to read arm state successfully over the FRI connection. While there are currently quality issues those will be addressed as part of #13 because high connection quality is required to send commands.

@ahundt ahundt closed this as completed Mar 28, 2015
@ahundt ahundt mentioned this issue Jul 27, 2015
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ahundt commented Jul 27, 2015

This issue was moved to ahundt/grl#12

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7 - Released size 3
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Sprint 2-3 - Initial Arm Integration
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@ahundt @astrick3 @ShahriarSefati