├── .clang-format ├── .clang-tidy ├── .github └── workflows │ ├── industrial_ci_action.yml │ └── industrial_ci_prerelease.yml ├── .gitignore ├── README.md ├── pilz_control ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── pilz_control │ │ ├── cartesian_speed_monitor.h │ │ ├── cartesian_speed_monitor_exception.h │ │ ├── pilz_joint_trajectory_controller.h │ │ ├── pilz_joint_trajectory_controller_impl.h │ │ └── traj_mode_manager.h ├── package.xml ├── pilz_control_plugins.xml ├── rosdoc.yaml ├── spec.dox ├── src │ ├── cartesian_speed_monitor.cpp │ └── pilz_joint_trajectory_controller.cpp ├── test │ ├── acceptance_test_acceleration_limit.md │ ├── acceptance_test_acceleration_limit.py │ ├── acceptance_test_speed_monitoring.md │ ├── acceptance_test_speed_monitoring.py │ ├── config │ │ ├── joint_names.yaml │ │ ├── prbt_monitored_links.yaml │ │ ├── robot_mock_monitored_links.yaml │ │ └── test_controller.yaml │ ├── controller_state_observer.py │ ├── holding_mode_service_wrapper.py │ ├── integrationtest_pilz_joint_trajectory_controller.py │ ├── integrationtest_pilz_joint_trajectory_controller.test │ ├── pjtc_manager_mock.h │ ├── pjtc_test_helper.h │ ├── robot_driver_mock.h │ ├── robot_mock.cpp │ ├── robot_mock.h │ ├── robot_mock_node.cpp │ ├── trajectory_action_client_wrapper.h │ ├── trajectory_dispatcher.py │ ├── unittest_cartesian_speed_monitor.cpp │ ├── unittest_get_joint_acceleration_limits.cpp │ ├── unittest_get_joint_acceleration_limits.test │ ├── unittest_hold_mode_listener.cpp │ ├── unittest_joint_states_speed_observer.cpp │ ├── unittest_joint_states_speed_observer.test │ ├── unittest_pilz_joint_trajectory_controller.cpp │ ├── unittest_pilz_joint_trajectory_controller.test │ ├── unittest_pilz_joint_trajectory_controller_is_executing.cpp │ ├── unittest_pilz_joint_trajectory_controller_is_executing.test │ ├── unittest_traj_mode_manager.cpp │ ├── unittest_traj_mode_state_machine.cpp │ └── urdf │ │ ├── robot_mock.launch │ │ ├── robot_mock.srdf │ │ ├── robot_mock.urdf │ │ └── robot_mock_urdf.rviz └── test_utils │ ├── include │ └── pilz_control │ │ └── joint_states_speed_observer.h │ ├── launch │ └── joint_states_speed_observer.launch │ └── src │ └── joint_states_speed_observer.cpp ├── pilz_robots ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── pilz_status_indicator_rqt ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ └── widget_screenshot.png ├── package.xml ├── plugin.xml ├── resource │ ├── PilzStatusIndicatorRqt.ui │ ├── auto.png │ ├── t1.png │ ├── t2.png │ └── unknown.png ├── scripts │ ├── demo.py │ └── pilz_status_indicator_rqt ├── setup.py ├── src │ └── pilz_status_indicator_rqt │ │ ├── __init__.py │ │ ├── status_indicator.py │ │ └── status_indicator_widget.py └── test │ └── unit_tests │ ├── status_indicator_unit_test.py │ └── status_indicator_widget_unit_test.py ├── prbt_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config │ └── gazebo_pid_gains.yaml ├── launch │ └── sim_prbt_gazebo.launch ├── package.xml └── test │ ├── integrationtest_gazebo_bringup.cpp │ └── integrationtest_gazebo_bringup.test ├── prbt_hardware_support ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg │ └── FakeSpeedOverride.cfg ├── config │ ├── modbus_read_api_spec_pnoz.yaml │ ├── modbus_read_api_spec_pss4000.yaml │ └── modbus_write_api_spec_pss4000.yaml ├── doc │ ├── architecture_overview.md │ ├── diag_comp_overall_architecture.png │ ├── diag_comp_overall_architecture.uxf │ ├── diag_state_stop1_executor.png │ └── diag_state_stop1_executor.uxf ├── include │ └── prbt_hardware_support │ │ ├── adapter_operation_mode.h │ │ ├── brake_test_executor.h │ │ ├── brake_test_executor_node_service_calls.h │ │ ├── brake_test_utils.h │ │ ├── brake_test_utils_exception.h │ │ ├── canopen_braketest_adapter.h │ │ ├── canopen_braketest_adapter_exception.h │ │ ├── filter_pipeline.h │ │ ├── get_operation_mode_func_decl.h │ │ ├── libmodbus_client.h │ │ ├── modbus_adapter_brake_test.h │ │ ├── modbus_adapter_brake_test_exception.h │ │ ├── modbus_adapter_operation_mode.h │ │ ├── modbus_adapter_run_permitted.h │ │ ├── modbus_api_definitions.h │ │ ├── modbus_api_spec.h │ │ ├── modbus_check_ip_connection.h │ │ ├── modbus_client.h │ │ ├── modbus_msg_brake_test_wrapper.h │ │ ├── modbus_msg_brake_test_wrapper_exception.h │ │ ├── modbus_msg_in_builder.h │ │ ├── modbus_msg_operation_mode_wrapper.h │ │ ├── modbus_msg_operation_mode_wrapper_exception.h │ │ ├── modbus_msg_run_permitted_wrapper.h │ │ ├── modbus_msg_run_permitted_wrapper_exception.h │ │ ├── modbus_msg_wrapper.h │ │ ├── modbus_msg_wrapper_exception.h │ │ ├── modbus_topic_definitions.h │ │ ├── monitor_cartesian_speed_func_decl.h │ │ ├── operation_mode_setup_executor.h │ │ ├── operation_mode_setup_executor_node_service_calls.h │ │ ├── param_names.h │ │ ├── pilz_modbus_client.h │ │ ├── pilz_modbus_client_exception.h │ │ ├── pilz_modbus_exceptions.h │ │ ├── register_container.h │ │ ├── run_permitted_state_machine.h │ │ ├── service_function_decl.h │ │ ├── stop1_executor.h │ │ ├── update_filter.h │ │ ├── utils.h │ │ └── write_modbus_register_call.h ├── launch │ ├── brake_test.launch │ ├── brake_test_executor_node.launch │ ├── canopen_braketest_adapter_node.launch │ ├── fake_operation_mode_setup.launch │ ├── fake_safety_interface.launch │ ├── modbus_adapter_brake_test_node.launch │ ├── modbus_adapter_operation_mode_node.launch │ ├── modbus_adapter_run_permitted_node.launch │ ├── modbus_client.launch │ ├── operation_mode.launch │ ├── operation_mode_setup_executor_node.launch │ ├── safety_interface.launch │ └── stop1_executor_node.launch ├── msg │ ├── BrakeTestErrorCodes.msg │ ├── ModbusMsgInStamped.msg │ └── ModbusRegisterBlock.msg ├── package.xml ├── rosdoc.yaml ├── spec.dox ├── src │ ├── adapter_operation_mode.cpp │ ├── brake_test_executor.cpp │ ├── brake_test_executor_node.cpp │ ├── canopen_braketest_adapter.cpp │ ├── canopen_braketest_adapter_exception.cpp │ ├── canopen_braketest_adapter_node.cpp │ ├── fake_speed_override_node.cpp │ ├── libmodbus_client.cpp │ ├── modbus_adapter_brake_test.cpp │ ├── modbus_adapter_brake_test_node.cpp │ ├── modbus_adapter_operation_mode.cpp │ ├── modbus_adapter_operation_mode_node.cpp │ ├── modbus_adapter_run_permitted.cpp │ ├── modbus_adapter_run_permitted_node.cpp │ ├── modbus_check_ip_connection.cpp │ ├── modbus_msg_in_builder.cpp │ ├── modbus_msg_run_permitted_wrapper.cpp │ ├── operation_mode_setup_executor.cpp │ ├── operation_mode_setup_executor_node.cpp │ ├── pilz_modbus_client.cpp │ ├── pilz_modbus_client_node.cpp │ ├── stop1_executor.cpp │ └── stop1_executor_node.cpp ├── srv │ ├── BrakeTest.srv │ ├── SendBrakeTestResult.srv │ └── WriteModbusRegister.srv └── test │ ├── acceptance_tests │ ├── acceptancetest_execute_brake_test.md │ ├── acceptancetest_execute_brake_test_with_gripper.md │ └── acceptancetest_stop1.md │ ├── config │ ├── joint_names.yaml │ ├── prbt_manipulator_driver_nodes.yaml │ └── speed_observer_test.xacro │ ├── include │ └── prbt_hardware_support │ │ ├── canopen_chain_node_mock.h │ │ ├── client_tests_common.h │ │ ├── pilz_manipulator_mock.h │ │ ├── pilz_modbus_client_mock.h │ │ ├── pilz_modbus_server_mock.h │ │ └── ros_test_helper.h │ ├── integration_tests │ ├── integrationtest_brake_test_required.cpp │ ├── integrationtest_brake_test_required.test │ ├── integrationtest_execute_brake_test.cpp │ ├── integrationtest_execute_brake_test.test │ ├── integrationtest_operation_mode.cpp │ ├── integrationtest_operation_mode.test │ ├── integrationtest_operation_mode_setup.cpp │ ├── integrationtest_operation_mode_setup.test │ ├── integrationtest_stop1.cpp │ ├── integrationtest_stop1.test │ ├── integrationtest_stop1_service_missing.cpp │ └── integrationtest_stop1_service_missing.test │ └── unit_tests │ ├── canopen_chain_node_mock.cpp │ ├── pilz_modbus_server_mock.cpp │ ├── unittest_brake_test_executor.cpp │ ├── unittest_brake_test_utils.cpp │ ├── unittest_brake_test_utils.test │ ├── unittest_canopen_braketest_adapter.cpp │ ├── unittest_canopen_braketest_adapter.test │ ├── unittest_disable_speed_monitoring.cpp │ ├── unittest_disable_speed_monitoring.test │ ├── unittest_fake_speed_override.cpp │ ├── unittest_fake_speed_override.test │ ├── unittest_filter_pipeline.cpp │ ├── unittest_filter_pipeline.test │ ├── unittest_libmodbus_client.cpp │ ├── unittest_modbus_adapter_brake_test.cpp │ ├── unittest_modbus_adapter_operation_mode.cpp │ ├── unittest_modbus_adapter_operation_mode.test │ ├── unittest_modbus_adapter_run_permitted.cpp │ ├── unittest_modbus_api_spec.cpp │ ├── unittest_modbus_check_ip_connection.cpp │ ├── unittest_modbus_msg_in_builder.cpp │ ├── unittest_modbus_msg_wrapper.cpp │ ├── unittest_operation_mode_setup_executor.cpp │ ├── unittest_pilz_modbus_client.cpp │ ├── unittest_pilz_modbus_client.test │ ├── unittest_pilz_modbus_client_exception.cpp │ ├── unittest_pilz_modbus_exception.cpp │ ├── unittest_stop1_executor.cpp │ ├── unittest_update_filter.cpp │ ├── unittest_update_filter.test │ └── unittest_utils.cpp ├── prbt_ikfast_manipulator_plugin ├── .clang-format ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── include │ └── ikfast.h ├── package.xml ├── patches │ ├── add-clang-tidy.patch │ ├── add-unittests.patch │ ├── compiler-flags.patch │ ├── drop-lapack.patch │ └── series ├── prbt_manipulator_moveit_ikfast_plugin_description.xml ├── prbt_update_ikfast_plugin.sh ├── src │ ├── prbt_manipulator_ikfast_moveit_plugin.cpp │ └── prbt_manipulator_ikfast_solver.cpp └── update_ikfast_plugin.sh ├── prbt_moveit_config ├── .setup_assistant ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── config │ ├── cartesian_limits.yaml │ ├── controllers_manipulator.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── joint_names.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── prbt.srdf.xacro │ └── prbt_manipulator.srdf.xacro ├── img │ └── prbt_rviz_planning_screenshot.png ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_planning_execution.launch │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── prbt_moveit_controller_manager.launch.xml │ ├── prbt_moveit_sensor_manager.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── trapezoidal_command_planner_planning_pipeline.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── test │ ├── integrationtest_prbt_ikfast_manipulator_plugin.cpp │ └── integrationtest_prbt_ikfast_manipulator_plugin.test └── prbt_support ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── manipulator_controller.yaml ├── manipulator_driver.yaml └── prbt_0_1.dcf ├── img ├── joints.png ├── pilz-logo.png └── prbt.jpg ├── include └── prbt_support │ ├── system_info.h │ └── system_info_exception.h ├── launch ├── robot.launch └── system_info.launch ├── meshes ├── flange.dae ├── flange.stl ├── foot.dae ├── foot.stl ├── link_1.dae ├── link_1.stl ├── link_2.dae ├── link_2.stl ├── link_3.dae ├── link_3.stl ├── link_4.dae ├── link_4.stl ├── link_5.dae └── link_5.stl ├── package.xml ├── src ├── system_info.cpp ├── system_info_exception.cpp └── system_info_node.cpp ├── test ├── acceptance_tests │ ├── acceptance_test_gripper.md │ ├── acceptance_test_joint_limits.md │ ├── acceptance_test_joint_limits.py │ └── acceptance_test_tcp.md ├── robotmodel.rviz ├── test_urdf.launch ├── unit_tests │ ├── unittest_system_info.cpp │ └── unittest_system_info.test ├── urdf_tests.cpp └── urdf_tests.test └── urdf ├── prbt.xacro ├── prbt_macro.xacro └── simple_gripper_brackets.urdf.xacro /.clang-format: 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