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Package Summary

Tags No category tags.
Version 0.5.18
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PilzDE/pilz_robots.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-07-13
Dev Status DEVELOPED
CI status
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package provides a specialized joint_trajectory_controller that can be moved into holding state via service call. No further trajectories will be accepted/followed in this state.

Additional Links

Maintainers

  • Alexander Gutenkunst
  • Christian Henkel
  • Hagen Slusarek
  • Immanuel Martini

Authors

No additional authors.

Overview

This package provides a joint trajectory controller which can be put into a holding mode through a service call. It contains a specialized version of ros_controllers::JointTrajectoryController providing the holding mode functionality. A controlled stop using a hold trajectory is performed thus stopping the manipulator without the mechanical stress of a hard brake.

Topic interface deprecated: Due to safety reasons, the command interface of the PilzJointTrajectoryController is deactivated. For more information see issue #493 on ros-controls/ros_controllers.

Speed monitoring

The controller can perform a speed monitoring of the robot links in cartesian space. If one or more robot links move faster than 250 mm/s, a controlled stop is executed. This is a requirement in operation mode T1 from DIN EN ISO 10218-1. See prbt_hardware_support.

The speed monitoring is activated by default.

Additionally the controller limits the joint acceleration of the performed trajectories. In the file manipulator_controller.yaml these limits can be adjusted.

ROS API

Advertised service

  • is_executing (std_srvs/Trigger)
    • Detect if the controller is currently executing a trajectory
  • monitor_cartesian_speed (std_srvs/SetBool)
    • Activate/deactivate speed monitoring
  • hold (std_srvs/Trigger)
    • Switch into holding mode
  • unhold (std_srvs/Trigger)
    • Leave holding mode
CHANGELOG

Changelog for package pilz_control

0.5.18 (2020-07-02)

  • Make AsyncTest header-only
  • Extends robot mock
  • Fixes result of follow_joint_trajectory action
  • Rename triggerCancellingOfActiveGoal() -> cancelActiveGoal()
  • Contributors: Pilz GmbH and Co. KG

0.5.17 (2020-06-22)

  • Add cartesian speed monitoring to pilz joint trajectory controller
  • Deactivate command interface in PilzJointTrajectoryController
  • Add joint acceleration limits to pilz joint trajectory controller
  • Contributors: Pilz GmbH and Co. KG

0.5.16 (2020-05-15)

  • Update and apply clang-format (#387)
  • Contributors: Pilz GmbH and Co. KG

0.5.15 (2020-05-03)

  • Introduce goal_time_tolerance to PJTC function is_executing
  • Contributors: Pilz GmbH and Co. KG

0.5.14 (2020-03-11)

0.5.13 (2019-12-04)

0.5.12 (2019-11-28)

0.5.11 (2019-11-22)

  • Fix clang compiler errors (#283)
  • Contributors: Pilz GmbH and Co. KG

0.5.10 (2019-10-08)

0.5.9 (2019-10-07)

  • Minor fixes
  • Contributors: Pilz GmbH and Co. KG

0.5.8 (2019-09-10)

  • integrate clang-tidy via CMake flag
  • Contributors: Pilz GmbH and Co. KG

0.5.7 (2019-08-29)

  • Add is_executing service to joint trajectory controller
  • Better handling consecutive calls on the hold service of joint trajectory controller
  • Contributors: Pilz GmbH and Co. KG

0.5.6 (2019-06-12)

0.5.5 (2019-06-12)

0.5.4 (2019-05-27)

0.5.3 (2019-04-24)

  • Fixes for new JointTrajectoryController Interface
  • drop outdated can configuration
  • Contributors: Pilz GmbH and Co. KG

0.5.2 (2019-02-21)

  • Increase controller holding mode user feedback from INFO to WARN
  • Contributors: Pilz GmbH and Co. KG

0.5.1 (2018-11-30)

  • melodic release based on kinetic version 0.4.3
  • Contributors: Pilz GmbH and Co. KG

0.5.0 (2018-11-07)

  • fix joint trajectory controller due to new interface
  • Contributors: Pilz GmbH and Co. KG

0.4.3 (2018-11-30)

0.4.2 (2018-11-08)

0.4.1 (2018-11-07)

0.4.0 (2018-11-06)

  • joint trajectory controller with holding mode functionality

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test_utils/launch/joint_states_speed_observer.launch
    • Copyright (c) 2020 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • robot_name [default: prbt]
  • test/urdf/robot_mock.launch
      • controller_ns [default: controller_ns]
      • controller_name [default: test_joint_trajectory_controller]
      • model [default: $(dirname)/robot_mock.urdf]
      • gui [default: true]
      • rvizconfig [default: $(dirname)/robot_mock_urdf.rviz]

Messages

No message files found.

Services

No service files found

Recent questions tagged pilz_control at answers.ros.org

Package Summary

Tags No category tags.
Version 0.4.12
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PilzDE/pilz_robots.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-04-08
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package provides a specialized joint_trajectory_controller that can be moved into holding state via service call. No further trajectories will be accepted/followed in this state.

Additional Links

Maintainers

  • Alexander Gutenkunst
  • Christian Henkel
  • Hagen Slusarek
  • Immanuel Martini

Authors

No additional authors.

Overview

This package provides a joint trajectory controller which can be put into a holding mode through a service call. It contains a specialized version of ros_controllers::JointTrajectoryController providing the holding mode functionality. A controlled stop using a hold trajectory is performed thus stopping the manipulator without the mechanical stress of a hard brake.

ROS API

Advertised service

  • hold (std_srvs/Trigger)
    • Switch into holding mode
  • unhold (std_srvs/Trigger)
    • Leave holding mode
CHANGELOG

Changelog for package pilz_control

0.4.12 (2020-03-24)

  • Minor fixes
  • integrate clang-tidy via CMake flag
  • Better handling consecutive calls on the hold service of joint trajectory controller
  • Contributors: Pilz GmbH and Co. KG

0.4.11 (2019-09-11)

0.4.10 (2019-09-03)

  • Add is_executing service to joint trajectory controller
  • Contributors: Pilz GmbH and Co. KG

0.4.9 (2019-06-19)

0.4.8 (2019-04-24)

0.4.7 (2019-02-15)

  • Fixes for new JointTrajectoryController Interface
  • drop outdated can configuration
  • Contributors: Pilz GmbH and Co. KG

0.4.6 (2019-01-18)

0.4.5 (2019-01-16)

0.4.4 (2019-01-16)

  • Increase controller holding mode user feedback from INFO to WARN

0.4.3 (2018-11-30)

0.4.2 (2018-11-08)

0.4.1 (2018-11-07)

0.4.0 (2018-11-06)

  • joint trajectory controller with holding mode functionality

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged pilz_control at answers.ros.org

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