Repository navigation
Added freedrive button to drt ur gui - #6
Merged
Merged
Conversation
…tton to send URScripts over the Primary Interface, a text box for to send multi-line URScripts, and ip address assigning for the robot. Have not tested this on the robot and have not tested beyond mock pinging.
…anager, untested on hardware
…o commit on the computer downstairs so i am making a big commit here
…rdware tests to come
…tested on hardware yet
…returnign current controllers for get active controllers
…ck to get the list of all controllers
…cs/drt_ur_gui into freedrive-button
…cs/drt_ur_gui into freedrive-button
…ake it more readable. also streamlined the switch controllers method
… idea is to pull it out and then call switch controllers
…ned up the process of switching controllers
alvu-nasa
requested review from
eholum-nasa,
mtobia-nasa,
ndunkelb-nasa and
scastro-nasa
June 24, 2026 18:44
scastro-nasa
left a comment
scastro-nasa
left a comment
There was a problem hiding this comment.
Looks good -- only minor style comments, really.
Also make sure you run the formatter with pre-commit run -a to fix those failures
eholum-nasa
reviewed
Jun 24, 2026
mtobia-nasa
reviewed
Jun 25, 2026
…cs/drt_ur_gui into freedrive-button
ndunkelb-nasa
left a comment
ndunkelb-nasa
left a comment
Contributor
There was a problem hiding this comment.
General comments, mostly just on style, but the overall structure is good!
…g instead of a list. freedrive parameter is calledfreedrive mode controller name instead of freedrive direction.
scastro-nasa
approved these changes
Jun 29, 2026
scastro-nasa
left a comment
scastro-nasa
left a comment
There was a problem hiding this comment.
LGTM from a code standpoint -- assuming it still works let's go!
scastro-nasa
approved these changes
Jun 29, 2026
Comment on lines
+4
to
+8
| freedrive_mode_controller_name: "left_" | ||
| robot.name: "UR" | ||
| arm.name: "Left Arm" | ||
| program: "ext_ctrl.urp" | ||
| script_command_topic: "/script_command" |
There was a problem hiding this comment.
why does two_arm_left.yaml have the extra line for script_command_topic but the right config doesn't? Just missed it?
| ) | ||
| self.freedrive_active = False | ||
| self.active_controllers = [] | ||
| self.freedrive_controllers = f"{self.freedrive_mode_controller_name}freedrive_mode_controller" |
There was a problem hiding this comment.
also nitpick on the config stuff -- it may be a little confusing to have the freedrive mode controller name just be a prefix.
If you call the variable self.freedrive_mode_controller_prefix} then it will read
f"{self.freedrive_mode_controller_prefix}freedrive_mode_controller"
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Freedrive button architecture:
To enable freedrive:
To disable freedrive:
Tested on CLR hardware, both standalone and during MoveIt demonstrations