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Support for combined robot hardware #34

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merged 4 commits into from
Nov 20, 2019
Merged

Support for combined robot hardware #34

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daa27d3
Minimum changes to add support for combined hardware interface
asierfernandez Nov 12, 2019
81e1189
Add Missing dashboard client source file
asierfernandez Nov 13, 2019
d8d0dcc
Avoid same source files to be built and linked in several places
asierfernandez Nov 13, 2019
344e6d4
Separate ROS related sources from ur_robot_driver library
asierfernandez Nov 13, 2019
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12 changes: 10 additions & 2 deletions ur_robot_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ find_package(catkin REQUIRED
controller_manager
geometry_msgs
hardware_interface
pluginlib
roscpp
sensor_msgs
std_srvs
Expand All @@ -39,6 +40,7 @@ catkin_package(
controller_manager
geometry_msgs
hardware_interface
pluginlib
roscpp
sensor_msgs
tf
Expand Down Expand Up @@ -88,6 +90,8 @@ add_library(ur_robot_driver
src/primary/robot_message.cpp
src/primary/robot_message/version_message.cpp
src/primary/robot_state/kinematics_info.cpp
src/ros/dashboard_client_ros.cpp
src/ros/hardware_interface.cpp
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src/rtde/control_package_pause.cpp
src/rtde/control_package_setup_inputs.cpp
src/rtde/control_package_setup_outputs.cpp
Expand All @@ -108,8 +112,8 @@ target_link_libraries(ur_robot_driver ${catkin_LIBRARIES})
add_dependencies(ur_robot_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(ur_robot_driver_node
src/ros/dashboard_client_ros.cpp
src/ros/hardware_interface.cpp
#src/ros/dashboard_client_ros.cpp
#src/ros/hardware_interface.cpp
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src/ros/hardware_interface_node.cpp
)
target_link_libraries(ur_robot_driver_node ${catkin_LIBRARIES} ur_robot_driver)
Expand Down Expand Up @@ -146,3 +150,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)

install(FILES hardware_interface_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
7 changes: 7 additions & 0 deletions ur_robot_driver/hardware_interface_plugin.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
<library path="lib/libur_robot_driver">
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<class name="ur_driver/HardwareInterface" type="ur_driver::HardwareInterface" base_class_type="hardware_interface::RobotHW">
<description>
Universal Robots ROS Driver as plugin
</description>
</class>
</library>
2 changes: 2 additions & 0 deletions ur_robot_driver/package.xml
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Expand Up @@ -27,6 +27,7 @@
<depend>controller_manager</depend>
<depend>geometry_msgs</depend>
<depend>hardware_interface</depend>
<depend>pluginlib</depend>
<depend>roscpp</depend>
<depend>sensor_msgs</depend>
<depend>tf</depend>
Expand All @@ -47,6 +48,7 @@
<exec_depend>velocity_controllers</exec_depend>

<export>
<hardware_interface plugin="${prefix}/hardware_interface_plugin.xml" />
<rosdoc config="doc/rosdoc.yaml" />
</export>

Expand Down
4 changes: 3 additions & 1 deletion ur_robot_driver/src/ros/hardware_interface.cpp
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Expand Up @@ -24,7 +24,7 @@
*
*/
//----------------------------------------------------------------------

#include <pluginlib/class_list_macros.hpp>
#include "ur_robot_driver/ros/hardware_interface.h"
#include "ur_robot_driver/ur/tool_communication.h"
#include <ur_robot_driver/exceptions.h>
Expand Down Expand Up @@ -744,3 +744,5 @@ void HardwareInterface::publishRobotAndSafetyMode()
}
}
} // namespace ur_driver

PLUGINLIB_EXPORT_CLASS(ur_driver::HardwareInterface, hardware_interface::RobotHW)
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