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Added new release of Isaac driver
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The new release includes several new features, some of them can be seen here:
 - New controller that is aware of speedscaling
 - Codelet that serves as an interface for the dashboard server
 - Added support for integration of teach-pendant, using the URCap system.
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@urmahp @urrsk
urmahp authored and urrsk committed May 6, 2021
1 parent 5ae8c52 commit 0efa915
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Showing 157 changed files with 8,532 additions and 12,949 deletions.
4 changes: 0 additions & 4 deletions .ci.rosinstall
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4 changes: 3 additions & 1 deletion .gitignore
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*~
.idea
.directory
.vscode
.vscode
__pycache__
ur_client_library
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199 changes: 107 additions & 92 deletions BUILD
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@@ -1,94 +1,109 @@
load("//engine/build:isaac.bzl", "isaac_cc_module")
load("//bzl:module.bzl", "isaac_cc_module")

filegroup(name = "universal_robots_resources",
data =
[
"ur_robot_driver/resources/ros_control.urscript",
"ur_robot_driver/resources/rtde_input_recipe.txt",
"ur_robot_driver/resources/rtde_output_recipe.txt",
],
visibility = ["//visibility:public"], )
filegroup(
name = "universal_robots_resources",
data = [
"ur_robot_driver/resources/ros_control.urscript",
"ur_robot_driver/resources/rtde_input_recipe.txt",
"ur_robot_driver/resources/rtde_output_recipe.txt",
],
visibility = ["//visibility:public"],
)

isaac_cc_module(name = "universal_robots",
srcs =
[
"UniversalRobots.cpp",
"ur_robot_driver/src/comm/server.cpp",
"ur_robot_driver/src/comm/tcp_socket.cpp",
"ur_robot_driver/src/primary/primary_package.cpp",
"ur_robot_driver/src/primary/robot_message.cpp",
"ur_robot_driver/src/primary/robot_message/version_message.cpp",
"ur_robot_driver/src/primary/robot_state/kinematics_info.cpp",
"ur_robot_driver/src/rtde/control_package_pause.cpp",
"ur_robot_driver/src/rtde/control_package_setup_inputs.cpp",
"ur_robot_driver/src/rtde/control_package_setup_outputs.cpp",
"ur_robot_driver/src/rtde/control_package_start.cpp",
"ur_robot_driver/src/rtde/data_package.cpp",
"ur_robot_driver/src/rtde/get_urcontrol_version.cpp",
"ur_robot_driver/src/rtde/request_protocol_version.cpp",
"ur_robot_driver/src/rtde/rtde_client.cpp",
"ur_robot_driver/src/rtde/rtde_package.cpp",
"ur_robot_driver/src/rtde/rtde_writer.cpp",
"ur_robot_driver/src/rtde/text_message.cpp",
"ur_robot_driver/src/ur/calibration_checker.cpp",
"ur_robot_driver/src/ur/dashboard_client.cpp",
"ur_robot_driver/src/ur/tool_communication.cpp",
"ur_robot_driver/src/ur/ur_driver.cpp",
],
hdrs =
[
"UniversalRobots.hpp",
"ur_robot_driver/include/ur_robot_driver/comm/bin_parser.h",
"ur_robot_driver/include/ur_robot_driver/comm/package.h",
"ur_robot_driver/include/ur_robot_driver/comm/package_serializer.h",
"ur_robot_driver/include/ur_robot_driver/comm/parser.h",
"ur_robot_driver/include/ur_robot_driver/comm/pipeline.h",
"ur_robot_driver/include/ur_robot_driver/comm/producer.h",
"ur_robot_driver/include/ur_robot_driver/comm/reverse_interface.h",
"ur_robot_driver/include/ur_robot_driver/comm/script_sender.h",
"ur_robot_driver/include/ur_robot_driver/comm/server.h",
"ur_robot_driver/include/ur_robot_driver/comm/shell_consumer.h",
"ur_robot_driver/include/ur_robot_driver/comm/stream.h",
"ur_robot_driver/include/ur_robot_driver/comm/tcp_socket.h",
"ur_robot_driver/include/ur_robot_driver/exceptions.h",
"ur_robot_driver/include/ur_robot_driver/log.h",
"ur_robot_driver/include/ur_robot_driver/primary/package_header.h",
"ur_robot_driver/include/ur_robot_driver/primary/primary_package.h",
"ur_robot_driver/include/ur_robot_driver/primary/primary_parser.h",
"ur_robot_driver/include/ur_robot_driver/primary/robot_message.h",
"ur_robot_driver/include/ur_robot_driver/primary/robot_message/version_message.h",
"ur_robot_driver/include/ur_robot_driver/primary/robot_state.h",
"ur_robot_driver/include/ur_robot_driver/primary/robot_state/kinematics_info.h",
"ur_robot_driver/include/ur_robot_driver/primary/robot_state/master_board.h",
"ur_robot_driver/include/ur_robot_driver/primary/robot_state/robot_mode_data.h",
"ur_robot_driver/include/ur_robot_driver/queue/atomicops.h",
"ur_robot_driver/include/ur_robot_driver/queue/readerwriterqueue.h",
"ur_robot_driver/include/ur_robot_driver/rtde/control_package_pause.h",
"ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_inputs.h",
"ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_outputs.h",
"ur_robot_driver/include/ur_robot_driver/rtde/control_package_start.h",
"ur_robot_driver/include/ur_robot_driver/rtde/data_package.h",
"ur_robot_driver/include/ur_robot_driver/rtde/get_urcontrol_version.h",
"ur_robot_driver/include/ur_robot_driver/rtde/package_header.h",
"ur_robot_driver/include/ur_robot_driver/rtde/request_protocol_version.h",
"ur_robot_driver/include/ur_robot_driver/rtde/rtde_client.h",
"ur_robot_driver/include/ur_robot_driver/rtde/rtde_package.h",
"ur_robot_driver/include/ur_robot_driver/rtde/rtde_parser.h",
"ur_robot_driver/include/ur_robot_driver/rtde/rtde_writer.h",
"ur_robot_driver/include/ur_robot_driver/rtde/text_message.h",
"ur_robot_driver/include/ur_robot_driver/types.h",
"ur_robot_driver/include/ur_robot_driver/ur/calibration_checker.h",
"ur_robot_driver/include/ur_robot_driver/ur/dashboard_client.h",
"ur_robot_driver/include/ur_robot_driver/ur/datatypes.h",
"ur_robot_driver/include/ur_robot_driver/ur/tool_communication.h",
"ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h",
"ur_robot_driver/include/ur_robot_driver/ur/version_information.h",
],
copts = ["-Ipackages/universal_robots/ur_robot_driver/include"],
data = ["//packages/universal_robots:universal_robots_resources"], defines = ["BAZEL_BUILD"],
visibility = ["//visibility:public"], deps = [
"//engine/gems/kinematic_tree",
"//packages/composite/gems:parser",
"//packages/map:kinematic_tree",
"@boost//:variant",
], )
isaac_cc_module(
name = "universal_robots",
srcs = [
"ur_robot_driver/UniversalRobots.cpp",
"ur_robot_driver/DashboardClientIsaac.cpp",
"ur_robot_driver/UrclLogHandler.cpp",
"ur_client_library/src/log.cpp",
"ur_client_library/src/default_log_handler.cpp",
"ur_client_library/src/comm/tcp_server.cpp",
"ur_client_library/src/comm/tcp_socket.cpp",
"ur_client_library/src/primary/primary_package.cpp",
"ur_client_library/src/primary/robot_message.cpp",
"ur_client_library/src/primary/robot_state.cpp",
"ur_client_library/src/primary/robot_message/version_message.cpp",
"ur_client_library/src/primary/robot_state/kinematics_info.cpp",
"ur_client_library/src/rtde/control_package_pause.cpp",
"ur_client_library/src/rtde/control_package_setup_inputs.cpp",
"ur_client_library/src/rtde/control_package_setup_outputs.cpp",
"ur_client_library/src/rtde/control_package_start.cpp",
"ur_client_library/src/rtde/data_package.cpp",
"ur_client_library/src/rtde/get_urcontrol_version.cpp",
"ur_client_library/src/rtde/request_protocol_version.cpp",
"ur_client_library/src/rtde/rtde_client.cpp",
"ur_client_library/src/rtde/rtde_package.cpp",
"ur_client_library/src/rtde/rtde_writer.cpp",
"ur_client_library/src/rtde/text_message.cpp",
"ur_client_library/src/ur/calibration_checker.cpp",
"ur_client_library/src/ur/dashboard_client.cpp",
"ur_client_library/src/ur/tool_communication.cpp",
"ur_client_library/src/ur/ur_driver.cpp",
],
hdrs = [
"ur_robot_driver/UniversalRobots.hpp",
"ur_robot_driver/DashboardClientIsaac.hpp",
"ur_robot_driver/UrclLogHandler.hpp",
"ur_client_library/include/ur_client_library/comm/bin_parser.h",
"ur_client_library/include/ur_client_library/comm/package.h",
"ur_client_library/include/ur_client_library/comm/package_serializer.h",
"ur_client_library/include/ur_client_library/comm/parser.h",
"ur_client_library/include/ur_client_library/comm/pipeline.h",
"ur_client_library/include/ur_client_library/comm/producer.h",
"ur_client_library/include/ur_client_library/comm/reverse_interface.h",
"ur_client_library/include/ur_client_library/comm/script_sender.h",
"ur_client_library/include/ur_client_library/comm/tcp_server.h",
"ur_client_library/include/ur_client_library/comm/shell_consumer.h",
"ur_client_library/include/ur_client_library/comm/stream.h",
"ur_client_library/include/ur_client_library/comm/tcp_socket.h",
"ur_client_library/include/ur_client_library/exceptions.h",
"ur_client_library/include/ur_client_library/log.h",
"ur_client_library/include/ur_client_library/default_log_handler.h",
"ur_client_library/include/ur_client_library/primary/abstract_primary_consumer.h",
"ur_client_library/include/ur_client_library/primary/package_header.h",
"ur_client_library/include/ur_client_library/primary/primary_package.h",
"ur_client_library/include/ur_client_library/primary/primary_parser.h",
"ur_client_library/include/ur_client_library/primary/robot_message.h",
"ur_client_library/include/ur_client_library/primary/robot_message/version_message.h",
"ur_client_library/include/ur_client_library/primary/robot_state.h",
"ur_client_library/include/ur_client_library/primary/robot_state/kinematics_info.h",
"ur_client_library/include/ur_client_library/queue/atomicops.h",
"ur_client_library/include/ur_client_library/queue/readerwriterqueue.h",
"ur_client_library/include/ur_client_library/rtde/control_package_pause.h",
"ur_client_library/include/ur_client_library/rtde/control_package_setup_inputs.h",
"ur_client_library/include/ur_client_library/rtde/control_package_setup_outputs.h",
"ur_client_library/include/ur_client_library/rtde/control_package_start.h",
"ur_client_library/include/ur_client_library/rtde/data_package.h",
"ur_client_library/include/ur_client_library/rtde/get_urcontrol_version.h",
"ur_client_library/include/ur_client_library/rtde/package_header.h",
"ur_client_library/include/ur_client_library/rtde/request_protocol_version.h",
"ur_client_library/include/ur_client_library/rtde/rtde_client.h",
"ur_client_library/include/ur_client_library/rtde/rtde_package.h",
"ur_client_library/include/ur_client_library/rtde/rtde_parser.h",
"ur_client_library/include/ur_client_library/rtde/rtde_writer.h",
"ur_client_library/include/ur_client_library/rtde/text_message.h",
"ur_client_library/include/ur_client_library/types.h",
"ur_client_library/include/ur_client_library/ur/calibration_checker.h",
"ur_client_library/include/ur_client_library/ur/dashboard_client.h",
"ur_client_library/include/ur_client_library/ur/datatypes.h",
"ur_client_library/include/ur_client_library/ur/tool_communication.h",
"ur_client_library/include/ur_client_library/ur/ur_driver.h",
"ur_client_library/include/ur_client_library/ur/version_information.h",
],
copts = ["-Ipackages/universal_robots/ur_client_library/include"],
data = ["//packages/universal_robots:universal_robots_resources"],
defines = ["ISAAC_BUILD"],
visibility = ["//visibility:public"],
deps = [
"//packages/math/gems/kinematic_tree",
"//packages/composite/gems:parser",
"//packages/map:kinematic_tree",
"@boost//:variant",
"//packages/universal_robots/ur_msg:speed_slider_proto",
"//packages/universal_robots/ur_msg:dashboard_command_proto",
"//packages/universal_robots/ur_msg:dashboard_command",
"//packages/universal_robots/controller_stopper:controller_stopper",
"//packages/composite/gems:serializer",
],
)
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