From 25f6a52ef37fe410e5abf9ceda9fb3defe64571f Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 12 Sep 2019 11:03:58 +0200 Subject: [PATCH 1/7] Added a service to set the speed slider position --- ur_msgs/CMakeLists.txt | 1 + ur_msgs/srv/SetSpeedSlider.srv | 3 +++ 2 files changed, 4 insertions(+) create mode 100644 ur_msgs/srv/SetSpeedSlider.srv diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt index 1b3457363..ae1fc1eee 100644 --- a/ur_msgs/CMakeLists.txt +++ b/ur_msgs/CMakeLists.txt @@ -23,6 +23,7 @@ add_message_files( add_service_files( FILES SetPayload.srv + SetSpeedSlider.srv SetIO.srv ) diff --git a/ur_msgs/srv/SetSpeedSlider.srv b/ur_msgs/srv/SetSpeedSlider.srv new file mode 100644 index 000000000..3036c7980 --- /dev/null +++ b/ur_msgs/srv/SetSpeedSlider.srv @@ -0,0 +1,3 @@ +float64 data +--- +bool success From e71ded34bf5dceab2c4ac967af884cebb7983ee1 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 12 Sep 2019 11:22:37 +0200 Subject: [PATCH 2/7] Use a more specific name for the data The name used is the same as defined in the RTDE interface. --- ur_msgs/srv/SetSpeedSlider.srv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_msgs/srv/SetSpeedSlider.srv b/ur_msgs/srv/SetSpeedSlider.srv index 3036c7980..e208cc177 100644 --- a/ur_msgs/srv/SetSpeedSlider.srv +++ b/ur_msgs/srv/SetSpeedSlider.srv @@ -1,3 +1,3 @@ -float64 data +float64 speed_slider_fraction --- bool success From 9b87263862df25a38c2a8d552e9a7d9ef0d93d70 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 12 Sep 2019 11:35:28 +0200 Subject: [PATCH 3/7] Added an explanation with valid data range to the service. --- ur_msgs/srv/SetSpeedSlider.srv | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ur_msgs/srv/SetSpeedSlider.srv b/ur_msgs/srv/SetSpeedSlider.srv index e208cc177..97efbf4f7 100644 --- a/ur_msgs/srv/SetSpeedSlider.srv +++ b/ur_msgs/srv/SetSpeedSlider.srv @@ -1,3 +1,5 @@ +# This sets the speed slider to the given value. +# The target value has to be between 0 and 1.0 float64 speed_slider_fraction --- bool success From 5e249a5d3eb7bf975d6edc0e6e2aa95a0431191b Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Sun, 15 Sep 2019 13:20:20 +0200 Subject: [PATCH 4/7] Update comment. --- ur_msgs/srv/SetSpeedSlider.srv | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/ur_msgs/srv/SetSpeedSlider.srv b/ur_msgs/srv/SetSpeedSlider.srv index 97efbf4f7..263a37597 100644 --- a/ur_msgs/srv/SetSpeedSlider.srv +++ b/ur_msgs/srv/SetSpeedSlider.srv @@ -1,5 +1,8 @@ -# This sets the speed slider to the given value. -# The target value has to be between 0 and 1.0 +# Set the speed slider on the teach pendant to the specified value. +# +# Values for 'speed_slider_fraction' must be from [0; 1.0]; values outside this +# valid range will result in an error being returned to the caller. + float64 speed_slider_fraction --- bool success From 56499e7164042178559bc0dd7562bfec68ee6249 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Mon, 16 Sep 2019 10:26:10 +0200 Subject: [PATCH 5/7] Renamed service to SetSpeedSliderFraction This better represents the technical background --- ur_msgs/srv/{SetSpeedSlider.srv => SetSpeedSliderFraction.srv} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename ur_msgs/srv/{SetSpeedSlider.srv => SetSpeedSliderFraction.srv} (100%) diff --git a/ur_msgs/srv/SetSpeedSlider.srv b/ur_msgs/srv/SetSpeedSliderFraction.srv similarity index 100% rename from ur_msgs/srv/SetSpeedSlider.srv rename to ur_msgs/srv/SetSpeedSliderFraction.srv From effa4d1f742b085f37eb9767be8ee36eda81c09f Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Mon, 16 Sep 2019 12:02:16 +0200 Subject: [PATCH 6/7] Use correct name of svc def file. --- ur_msgs/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt index ae1fc1eee..a23b7b169 100644 --- a/ur_msgs/CMakeLists.txt +++ b/ur_msgs/CMakeLists.txt @@ -23,7 +23,7 @@ add_message_files( add_service_files( FILES SetPayload.srv - SetSpeedSlider.srv + SetSpeedSliderFraction SetIO.srv ) From 96de234567b90b2efa999cd091d6dc8624c9f87e Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Mon, 16 Sep 2019 12:02:34 +0200 Subject: [PATCH 7/7] Fixup --- ur_msgs/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt index a23b7b169..84f715b46 100644 --- a/ur_msgs/CMakeLists.txt +++ b/ur_msgs/CMakeLists.txt @@ -23,7 +23,7 @@ add_message_files( add_service_files( FILES SetPayload.srv - SetSpeedSliderFraction + SetSpeedSliderFraction.srv SetIO.srv )