Analog output domain in setIO service

[fmauch]

Currently, the setIO service does not support specifying the domain (voltage / current) when setting an analog output. This should be included. Before creating a PR, I'd like to clarify whether it might be worth it, splitting the setIO service into multiple services, as there are quite different things this service does handle. We have the Analog.msg and Digital.msg messages already that contain the necessary fields. With defining individual services we could reuse them directly instead of adding yet another (optional) field to the setIO service.

In the current ur_robot_driver implementation we unpack the service request anyway and call different functions depending on the request's content.

[mohamedamrali1993]

Hi, Is there any update on this issue? I need to control the AO pins' voltage between 0 and 24 volts. I know the setIO is a big srv file but if we add a field for AO voltage vs. current, it would be better than not having it at all. As of now, I am not sure if the Analog and Digital msgs are useful, what topic do they work with? I am guessing you want to couple those messages in addition to the setIO service? Thanks for all of your contributions to the ROS driver!

[fmauch]

There has been no update on this matter, so far.

[zp2546265641]

There has been no update on this matter, so far.

Hello, thank you for your help yesterday, but now I also encounter this problem, how can I set the voltage of AO, every time I send a request, it becomes current instead of voltage, at the same time the current is changed by the proportion, but the voltage is still 0V (0-10V). Unfortunately, my proportional valve shows "error" under the current signal, and it only supports voltage input 0-10v.

[fmauch]

I was just about to refer this issue in UniversalRobots/Universal_Robots_ROS_Driver#709

[zp2546265641]

Hi, Is there any update on this issue? I need to control the AO pins' voltage between 0 and 24 volts. I know the setIO is a big srv file but if we add a field for AO voltage vs. current, it would be better than not having it at all. As of now, I am not sure if the Analog and Digital msgs are useful, what topic do they work with? I am guessing you want to couple those messages in addition to the setIO service? Thanks for all of your contributions to the ROS driver!

Hello, now I also encounter this problem, how can I set the voltage of AO, every time I send a request, it becomes current instead of voltage, at the same time the current is changed by the proportion, but the voltage is still 0V (0-10V). Unfortunately, my proportional valve shows "error" under the current signal, and it only supports voltage input 0-10v.

and then, how do you solve such problem?

[zp2546265641]

I was just about to refer this issue in UniversalRobots/Universal_Robots_ROS_Driver#709

hi, I just happened to search for this question and came here, and does such issue have some solve solutions?

[zp2546265641]

I was just about to refer this issue in UniversalRobots/Universal_Robots_ROS_Driver#709

i use '/ur_hardware_interface/script_command' is ok, but this will cause the problem of external control interruption.

[fmauch]

I'll try to implement something...

[zp2546265641]

I'll try to implement something...

thank you very much! great work you do! i hope for your good messgae!

[fmauch]

We should also do that for ROS 2

[fmauch]

Implemented and merged in #30