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pilz_control package from pilz_robots repopilz_control pilz_robots pilz_status_indicator_rqt prbt_gazebo prbt_hardware_support prbt_ikfast_manipulator_plugin prbt_moveit_config prbt_support |
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Package Summary
| Tags | No category tags. |
| Version | 0.6.0 |
| 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 | noetic-devel |
| Last Updated | 2023-11-22 |
| Dev Status | END-OF-LIFE |
| CI status |
|
| Released | RELEASED |
| 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
- 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
0.6.0 (2021-04-19)
- Ports the driver to noetic. Includes moveing the trajectory planner
to moveit
- changes the references of the pilz_command_planner to the pilz_industrial_command_planner in moveit
- fixes compatibility with ubuntu 20, noetic and colcon
- changes CI to noetic and ubuntu 20
- Fix update routine in unittest of PilzJointTrajectoryController
- Contributors: Pilz GmbH and Co. KG
0.5.21 (2020-11-23)
0.5.20 (2020-11-17)
- Remove ROSNotOKException (#458)
- Fix wrong include for logger mock (#461)
- Contributors: Pilz GmbH and Co. KG
0.5.19 (2020-09-07)
- Add tolerance to speed-limit acceptance-test (#436)
- Contributors: Pilz GmbH and Co. KG
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| pilz_robots | |
| prbt_support |
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]
-
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
- 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
Plugins
Recent questions tagged pilz_control at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
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|
pilz_control package from pilz_robots repopilz_control pilz_robots pilz_status_indicator_rqt prbt_gazebo prbt_hardware_support prbt_ikfast_manipulator_plugin prbt_moveit_config prbt_support |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.5.23 |
| 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 | 2023-11-22 |
| Dev Status | END-OF-LIFE |
| CI status |
|
| Released | RELEASED |
| 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
- 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
0.5.23 (2021-07-21)
0.5.22 (2021-07-12)
0.5.21 (2020-11-23)
0.5.20 (2020-11-17)
- Remove ROSNotOKException (#458)
- Fix wrong include for logger mock (#461)
- Contributors: Pilz GmbH and Co. KG
0.5.19 (2020-09-07)
- Add tolerance to speed-limit acceptance-test (#436)
- Contributors: Pilz GmbH and Co. KG
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| pilz_robots | |
| prbt_support |
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]
-
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
- 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