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First release of the Universal Robot Isaac Driver
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“urrsk” committed Sep 23, 2020
1 parent d4e1e6a commit 5ae8c52
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1 change: 1 addition & 0 deletions .clang-format
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# Control of individual brace wrapping cases
BraceWrapping: {
AfterCaseLabel: 'true'
AfterClass: 'true'
AfterControlStatement: 'true'
AfterEnum : 'true'
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94 changes: 94 additions & 0 deletions BUILD
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load("//engine/build:isaac.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"], )

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",
], )
42 changes: 20 additions & 22 deletions controller_stopper/LICENSE → LICENSE.txt
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Copyright 2019 FZI Forschungszentrum Informatik

Apache License
Version 2.0, January 2004
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meet the following conditions:

(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and

(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and

(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and

(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
Derivative Works a copy of this License;
and

(b) You must cause any modified files to carry prominent notices stating that You
changed the files;
and

(c) You must retain,
in the Source form of any Derivative Works that You distribute, all copyright,
patent, trademark, and attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of the Derivative Works;
and

(d) If the Work includes a "NOTICE" text file as part of its distribution,
then any Derivative Works that You distribute must include a readable copy of the
attribution notices contained within such NOTICE file,
excluding those notices that do not pertain to any part of the Derivative Works,
in at least one of the following places
: within a NOTICE text file distributed as part of the Derivative Works;
within the Source form or documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
Expand Down Expand Up @@ -176,5 +176,3 @@ Copyright 2019 FZI Forschungszentrum Informatik
of your accepting any such warranty or additional liability.

END OF TERMS AND CONDITIONS


16 changes: 16 additions & 0 deletions NOTICE.txt
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Universal Robots Isaac Driver
Copyright 2020 Universal Robots A/S

All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of
Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS
OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR
NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE
MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY
CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES,
OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA,
USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the
Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an
appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first
published, e.g. “2020”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice
in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information,
please contact [email protected].
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