|
ur_description package from ur_description repour_description |
|
|
Package Summary
| Tags | No category tags. |
| Version | 2.1.1 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2023-09-11 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Felix Exner
- Tristan Schnell
- Lovro Ivanov
- Denis Stogl
Authors
- Nadia Hammoudeh Garcia
- Kelsey Hawkins
- G.A. vd. Hoorn
- Lovro Ivanov
- Mathias Ludtke
- Wim Meeussen
- Felix Messmer
- Miguel Prada Sarasola
- Denis Stogl
- Andy Zelenak
- Marvin Grosse Besselmann
Universal_Robots_ROS2_Description
This repository contains description files and meshes for Universal Robots manipulators.
Build status
| ROS2 Distro | Branch | Build status | Released packages |
|---|---|---|---|
| Galactic | galactic |
 |
ur_description |
| Humble | ros2 |
 |
ur_description |
| Iron | ros2 |
 |
ur_description |
| Rolling | ros2 |
 |
ur_description |
Note that for ROS2 Foxy the description is in the driver's repository. Please do not clone this repository into a Foxy workspace.
License
The majority of this repository is licensed under the BSD-3-Clause license. However, the UR20 meshes are licensed under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation. See the separate LICENSE.txt file for details. If you have any questions regarding the license or the license doesn't fit you use-case, please contact legal@universal-robots.com.
Structure of the repository
The most relevant files are:
- urdf/ur_macro.xacro - macro file with UR-manipulator description. This file is usually included into external projects to visualize and configure UR manipulators properly. An example how to use this macro is in urdf/ur.urdf.xacro file.
- urdf/ur.ros2_control.xacro - definition of manipulator's joints and interfaces for ros2_control framework.
Testing description of a manipulator
To visualize the robot install this repository to you workspace and execute the following:
ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
To test other descriptions change the ur_type argument.
Package / Description structure
This package uses one description for all robots. The different robot variants are configured using four configuration files. These files can also be changed for further customizing a description.
Basically, the description can be modified using configuration values stored in four files:
- config/urXX/default_kinematics.yaml - This contains the calibration values as they can be
extracted from the robot. Changing these values with the one extracted from a real robot will
result in a description matching the real robot exactly (w.r.t the tool0 frame). It is highly
recommended to use matching kinematic values in real-world applications.
- config/urXX/joint_limits.yaml - If you'd like to further restrict the robot's joint limits,
these limits can be modified there.
- config/urXX/physical_parameters.yaml - Everything regarding physics simulation parameters
(e.g. inertia poses and values) can be tuned here
- config/urXX/visual_parameters.yaml - Some users change certain visual aspects, e.g. replacing
the cap on the wrist_3_link. This config file specifies which meshes (both, visual and collision)
should be used.
The four configuration files have to be passed to ur_macro.urdf (more specific to the macro
defined in that file) which is done inside the ur.urdf.macro. Contents of the files are parsed
inside ur_common.xacro.
Arguments that have to be passed to the main ur.urdf.xacro file are:
- kinematics_params - Filename to the default_kinematics.yaml (or equivalent specific kinematics) file
- joint_limit_params - Filename to the joint_limits.yaml file
- physical_params - Filename to the physical_parameters.yaml file
- visual_params - Filename to the visual_params.yaml file
The launchfile launch/view_ur.launch.py abstracts these four parameters to one ur_type argument
which will basically replace the urXX part of the paths as shown in the picture above.
Creating your own description including this description
In real-world applications you will most probably have a more complex description consisting of more objects than just the robot. It is recommended to create a separate ROS package containing this particular description. Inside this description you could also store your robot-specific kinematics parameters file.
As mentioned above, see the urdf/ur.urdf.xacro file as an example to integrate a UR robot into
your scene description. Basically, you could create a copy of that file and extend it with the
modifications from your specific scene.
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | joint_state_publisher_gui | |
| 1 | launch | |
| 2 | launch_ros | |
| 2 | robot_state_publisher | |
| 1 | rviz2 | |
| 3 | urdf | |
| 1 | xacro | |
| 1 | ament_cmake_pytest | |
| 1 | launch_testing_ament_cmake | |
| 1 | launch_testing_ros |
System Dependencies
| Name |
|---|
| liburdfdom-tools |
Launch files
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
ur_description package from ur_description repour_description |
|
|
Package Summary
| Tags | No category tags. |
| Version | 2.1.1 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git |
| VCS Type | git |
| VCS Version | iron |
| Last Updated | 2023-09-11 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Felix Exner
- Tristan Schnell
- Lovro Ivanov
- Denis Stogl
Authors
- Nadia Hammoudeh Garcia
- Kelsey Hawkins
- G.A. vd. Hoorn
- Lovro Ivanov
- Mathias Ludtke
- Wim Meeussen
- Felix Messmer
- Miguel Prada Sarasola
- Denis Stogl
- Andy Zelenak
- Marvin Grosse Besselmann
Universal_Robots_ROS2_Description
This repository contains description files and meshes for Universal Robots manipulators.
Build status
| ROS2 Distro | Branch | Build status | Released packages |
|---|---|---|---|
| Galactic | galactic |
|
ur_description |
| Humble | ros2 |
|
ur_description |
| Iron | ros2 |
|
ur_description |
| Rolling | ros2 |
|
ur_description |
Note that for ROS2 Foxy the description is in the driver's repository. Please do not clone this repository into a Foxy workspace.
License
The majority of this repository is licensed under the BSD-3-Clause license. However, the UR20 meshes are licensed under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation. See the separate LICENSE.txt file for details. If you have any questions regarding the license or the license doesn't fit you use-case, please contact legal@universal-robots.com.
Structure of the repository
The most relevant files are:
- urdf/ur_macro.xacro - macro file with UR-manipulator description. This file is usually included into external projects to visualize and configure UR manipulators properly. An example how to use this macro is in urdf/ur.urdf.xacro file.
- urdf/ur.ros2_control.xacro - definition of manipulator's joints and interfaces for ros2_control framework.
Testing description of a manipulator
To visualize the robot install this repository to you workspace and execute the following:
ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
To test other descriptions change the ur_type argument.
Package / Description structure
This package uses one description for all robots. The different robot variants are configured using four configuration files. These files can also be changed for further customizing a description.
Basically, the description can be modified using configuration values stored in four files:
- config/urXX/default_kinematics.yaml - This contains the calibration values as they can be
extracted from the robot. Changing these values with the one extracted from a real robot will
result in a description matching the real robot exactly (w.r.t the tool0 frame). It is highly
recommended to use matching kinematic values in real-world applications.
- config/urXX/joint_limits.yaml - If you'd like to further restrict the robot's joint limits,
these limits can be modified there.
- config/urXX/physical_parameters.yaml - Everything regarding physics simulation parameters
(e.g. inertia poses and values) can be tuned here
- config/urXX/visual_parameters.yaml - Some users change certain visual aspects, e.g. replacing
the cap on the wrist_3_link. This config file specifies which meshes (both, visual and collision)
should be used.
The four configuration files have to be passed to ur_macro.urdf (more specific to the macro
defined in that file) which is done inside the ur.urdf.macro. Contents of the files are parsed
inside ur_common.xacro.
Arguments that have to be passed to the main ur.urdf.xacro file are:
- kinematics_params - Filename to the default_kinematics.yaml (or equivalent specific kinematics) file
- joint_limit_params - Filename to the joint_limits.yaml file
- physical_params - Filename to the physical_parameters.yaml file
- visual_params - Filename to the visual_params.yaml file
The launchfile launch/view_ur.launch.py abstracts these four parameters to one ur_type argument
which will basically replace the urXX part of the paths as shown in the picture above.
Creating your own description including this description
In real-world applications you will most probably have a more complex description consisting of more objects than just the robot. It is recommended to create a separate ROS package containing this particular description. Inside this description you could also store your robot-specific kinematics parameters file.
As mentioned above, see the urdf/ur.urdf.xacro file as an example to integrate a UR robot into
your scene description. Basically, you could create a copy of that file and extend it with the
modifications from your specific scene.
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | joint_state_publisher_gui | |
| 1 | launch | |
| 2 | launch_ros | |
| 2 | robot_state_publisher | |
| 1 | rviz2 | |
| 3 | urdf | |
| 1 | xacro | |
| 1 | ament_cmake_pytest | |
| 1 | launch_testing_ament_cmake | |
| 1 | launch_testing_ros |
System Dependencies
| Name |
|---|
| liburdfdom-tools |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
ur_description package from ur_description repour_description |
|
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2023-09-11 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Felix Exner
- Tristan Schnell
- Lovro Ivanov
- Denis Stogl
Authors
- Nadia Hammoudeh Garcia
- Kelsey Hawkins
- G.A. vd. Hoorn
- Lovro Ivanov
- Mathias Ludtke
- Wim Meeussen
- Felix Messmer
- Miguel Prada Sarasola
- Denis Stogl
- Andy Zelenak
- Marvin Grosse Besselmann
Universal_Robots_ROS2_Description
This repository contains description files and meshes for Universal Robots manipulators.
Build status
| ROS2 Distro | Branch | Build status | Released packages |
|---|---|---|---|
| Humble | humble |
ur_description | |
| Iron | iron |
ur_description | |
| Rolling | rolling |
ur_description |
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
Note that for ROS2 Foxy the description is in the driver's repository. Please do not clone this repository into a Foxy workspace.
License
The majority of this repository is licensed under the BSD-3-Clause license. However, the UR20 meshes are licensed under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation. See the separate LICENSE.txt file for details. If you have any questions regarding the license or the license doesn't fit you use-case, please contact legal@universal-robots.com.
Structure of the repository
The most relevant files are:
- urdf/ur_macro.xacro - macro file with UR-manipulator description. This file is usually included into external projects to visualize and configure UR manipulators properly. An example how to use this macro is in urdf/ur.urdf.xacro file.
- urdf/ur.ros2_control.xacro - definition of manipulator's joints and interfaces for ros2_control framework.
Testing description of a manipulator
To visualize the robot install this repository to you workspace and execute the following:
ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
To test other descriptions change the ur_type argument.
Package / Description structure
This package uses one description for all robots. The different robot variants are configured using four configuration files. These files can also be changed for further customizing a description.
Basically, the description can be modified using configuration values stored in four files:
- config/urXX/default_kinematics.yaml - This contains the calibration values as they can be
extracted from the robot. Changing these values with the one extracted from a real robot will
result in a description matching the real robot exactly (w.r.t the tool0 frame). It is highly
recommended to use matching kinematic values in real-world applications.
- config/urXX/joint_limits.yaml - If you'd like to further restrict the robot's joint limits,
these limits can be modified there.
- config/urXX/physical_parameters.yaml - Everything regarding physics simulation parameters
(e.g. inertia poses and values) can be tuned here
- config/urXX/visual_parameters.yaml - Some users change certain visual aspects, e.g. replacing
the cap on the wrist_3_link. This config file specifies which meshes (both, visual and collision)
should be used.
The four configuration files have to be passed to ur_macro.urdf (more specific to the macro
defined in that file) which is done inside the ur.urdf.macro. Contents of the files are parsed
inside ur_common.xacro.
Arguments that have to be passed to the main ur.urdf.xacro file are:
- kinematics_params - Filename to the default_kinematics.yaml (or equivalent specific kinematics) file
- joint_limit_params - Filename to the joint_limits.yaml file
- physical_params - Filename to the physical_parameters.yaml file
- visual_params - Filename to the visual_params.yaml file
The launchfile launch/view_ur.launch.py abstracts these four parameters to one ur_type argument
which will basically replace the urXX part of the paths as shown in the picture above.
Creating your own description including this description
In real-world applications you will most probably have a more complex description consisting of more objects than just the robot. It is recommended to create a separate ROS package containing this particular description. Inside this description you could also store your robot-specific kinematics parameters file.
As mentioned above, see the urdf/ur.urdf.xacro file as an example to integrate a UR robot into
your scene description. Basically, you could create a copy of that file and extend it with the
modifications from your specific scene.
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | joint_state_publisher_gui | |
| 1 | launch | |
| 2 | launch_ros | |
| 2 | robot_state_publisher | |
| 1 | rviz2 | |
| 3 | urdf | |
| 1 | xacro | |
| 1 | ament_cmake_pytest | |
| 1 | launch_testing_ament_cmake | |
| 1 | launch_testing_ros |
System Dependencies
| Name |
|---|
| liburdfdom-tools |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.3.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-industrial/universal_robot.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2023-01-27 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- G.A. vd. Hoorn
- Miguel Prada Sarasola
- Nadia Hammoudeh Garcia
Authors
- Wim Meeussen
- Kelsey Hawkins
- Mathias Ludtke
- Felix Messmer
Changelog for package ur_description
1.3.1 (2022-11-11)
1.3.0 (2022-11-10)
- Merge melodic-devel-staging #617 from ros-industrial/melodic-devel-staging
- ur_description: Make robot name configurable on load_ur.launch (#612) In 9d02ccadc8fb9b5cfeaf0d5b0c0c7708d2461447 robot launchfiles were forwarded to their specialized launchfiles instead of setting the robot model in the load_ur.launch file.
- Fixed ur5 base height (#607) The visual and collision mesh of the base of the ur5 has to be moved 3 mm upwards in order to close the gap between the shoulder and align its bottom in the xy-plane. Otherwise the ur5 collides with the surface it is directly placed on.
- Merge pull request #602 from fmauch/fix_deprecation_warning fixing deprecation warning
- fixing deprecation warning
- ur_description: Use the per-model xacro files for correct robot name (#588) With the common xacro file the robot name will always be \"ur\". However, the moveit config packages expect the robot name to be e.g. \"ur10e\". This commit will use the macros containing the model name already.
- Increase minimum CMake version to allow builds on Focal Fossa (Noetic) (#586)
- Merge pull request #562 from fmauch/convenience_macros Add convenience macros for description files
- Replace __ prefixes (#579) With newer versions of xacro this leads to errors otherwise.
- description: provide convenience top-levels and macros. These avoid users having to provide values for all arguments of the \'ur_robot\' macro. In many cases, users will want to keep the default files for the joint limits, physical and visual parameters, and only override the default kinematics (to use extracted calibration fi). With the provided wrapper macros, this is possible, as variant-specific defaults are provided for all arguments, requiring only to override the required ones. Users looking to include a UR into a larger scene or composite xacro macro should \'xacro:include\' these \'_macro.xacro\' files. The top-levels are only useful when loading a stand-alone UR in an otherwise empty scene. They do not allow access to any arguments and only use the defaults.
- description: main macro xacro is not a top-level. So move to include directory.
- Merge pull request #533 from gavanderhoorn/yaml_ctors_rosparam_joint_limits description: spec limits in degrees.
- description: spec limits in degrees. Use rosparam\'s and xacro\'s support for these special constructors to convert to radians on-the-fly.
- Merge pull request #520 from gavanderhoorn/fix_yaml_loading Load yaml files in read_model_data(..), nowhere else
- description: delegate loading yaml files to read_model_data(..). This avoids having to \'remember\' to load_yaml(..) the contents of those files in every user of the \'ur_robot\' macro, and seems to conform to the idea behind the \'*_parameters_file\' naming of the parameters (they\'re paths to files, not yaml strings).
- Merge pull request #516 from gavanderhoorn/convert_limits_files Use \'ros_control style\' joint limit files
- description: load values from new params. \'ros_control format\' uses different names, so use them.
- description: they\'re joint limits. Not joints limits.
- description: load new joint limit files.
- description: convert joint limit files to \'ros_control format\'. This allows re-using them with MoveIt and ros_control hw interfaces.
- description: rename limit files. Bring in-line with other joint limit files.
- description: add missing safety_ctrlr for shoulder pan. (#514)
- description: correct joint limits for all supported variants. (#513) Based on values from the User Manuals.
- description: fix main macro docs. (#512)
- Merge pull request #505 from gavanderhoorn/fix_base_link_orientation Remove incorrect base_link rotation.
- description: correct orientation of Base mesh. Connector should be aligned with Y+ of \'base\' frame.
- description: fix orientation of \'base\' frame. So it\'s coincident with the robot\'s/controller\'s \'Base\' frame. It\'s actually 180 degrees rotated over Z wrt \'base_link\'.
- description: rotate for UR internal frames.
- description: introduce base_link_inertia link. To work around the root-link-with-inertia limitation in KDL.
- description: remove the \'base_correction\' property. There is an offset between \'base_link\' and \'base\', but it\'s a fixed one, known and does not need to be a property. Rectify the problem with the \'base_link\' mesh in a follow-up commit.
- description: assume -0==0. (#511)
- description: use mat def from yaml for base_link. (#509)
- description: reduce verbosity: pass all args. (#508) These convenience wrappers only setup defaults, and all args are needed, so pass all of them.
- Merge pull request #506 from gavanderhoorn/add_flange_frame Add flange frame
- description: use standard comments for base and tool0 frames. Aligned with other ROS-Industrial robot support packages.
- description: fix orientation of tool0. Now that flange is its parent.
- description: introduce flange frame. This is the correct EEF attachment point: REP-103 aligned and no unwanted rotations (as tool0).
- description: remove ee_link link. Also remove the tiny collision object, as it\'s no longer needed now that MoveIt has been fixed.
- description: clarify status of \'inc\' xacro files. (#507) As the way we model the robots may change in the future, users should consider these files as private. No guarantees are given as to the existence of these files or their contents.
- Merge pull request #497 from gavanderhoorn/desc_updates Misc updates to ur_description
- description: clarify note on base_correction property.
- description: typo.
- description: explain function of common load_ur launch file.
- description: recognise Mathias L
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/load_ur5e.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/view_ur10e.launch
- launch/view_ur10.launch
- launch/view_ur3.launch
- launch/load_ur10e.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur3.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur3/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur3/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur3/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur3/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur.launch
-
- joint_limit_params — YAML file containing the joint limit values
- kinematics_params — YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration.
- physical_params — YAML file containing the phycical parameters of the robots
- visual_params — YAML file containing the visual model of the robots
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- robot_model
- launch/view_ur3e.launch
- launch/view_ur16e.launch
- launch/view_ur5.launch
- launch/view_ur5e.launch
- launch/load_ur16e.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur16e/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur16e/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur16e/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur16e/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur10.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur10/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur10/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur10/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur10/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur5.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur5/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur5/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur5/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur5/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur3e.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur3e/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur3e/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur3e/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur3e/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- tests/roslaunch_test_ur16e.xml
- tests/roslaunch_test_ur5e.xml
- tests/roslaunch_test_ur3.xml
- tests/roslaunch_test_ur3e.xml
- tests/roslaunch_test_ur5.xml
- tests/roslaunch_test_ur10.xml
- tests/roslaunch_test_ur10e.xml
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
ur_description package from ur_description repour_description |
|
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.1 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2023-09-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Felix Exner
- Tristan Schnell
- Lovro Ivanov
- Denis Stogl
Authors
- Nadia Hammoudeh Garcia
- Kelsey Hawkins
- G.A. vd. Hoorn
- Lovro Ivanov
- Mathias Ludtke
- Wim Meeussen
- Felix Messmer
- Miguel Prada Sarasola
- Denis Stogl
- Andy Zelenak
- Marvin Grosse Besselmann
Universal_Robots_ROS2_Description
This repository contains description files and meshes for Universal Robots manipulators.
Build status
| ROS2 Distro | Branch | Build status | Released packages |
|---|---|---|---|
| Humble | humble |
ur_description | |
| Iron | iron |
ur_description | |
| Rolling | rolling |
ur_description |
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
Note that for ROS2 Foxy the description is in the driver's repository. Please do not clone this repository into a Foxy workspace.
License
The majority of this repository is licensed under the BSD-3-Clause license. However, the UR20 meshes are licensed under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation. See the separate LICENSE.txt file for details. If you have any questions regarding the license or the license doesn't fit you use-case, please contact legal@universal-robots.com.
Structure of the repository
The most relevant files are:
- urdf/ur_macro.xacro - macro file with UR-manipulator description. This file is usually included into external projects to visualize and configure UR manipulators properly. An example how to use this macro is in urdf/ur.urdf.xacro file.
- urdf/ur.ros2_control.xacro - definition of manipulator's joints and interfaces for ros2_control framework.
Testing description of a manipulator
To visualize the robot install this repository to you workspace and execute the following:
ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
To test other descriptions change the ur_type argument.
Package / Description structure
This package uses one description for all robots. The different robot variants are configured using four configuration files. These files can also be changed for further customizing a description.
Basically, the description can be modified using configuration values stored in four files:
- config/urXX/default_kinematics.yaml - This contains the calibration values as they can be
extracted from the robot. Changing these values with the one extracted from a real robot will
result in a description matching the real robot exactly (w.r.t the tool0 frame). It is highly
recommended to use matching kinematic values in real-world applications.
- config/urXX/joint_limits.yaml - If you'd like to further restrict the robot's joint limits,
these limits can be modified there.
- config/urXX/physical_parameters.yaml - Everything regarding physics simulation parameters
(e.g. inertia poses and values) can be tuned here
- config/urXX/visual_parameters.yaml - Some users change certain visual aspects, e.g. replacing
the cap on the wrist_3_link. This config file specifies which meshes (both, visual and collision)
should be used.
The four configuration files have to be passed to ur_macro.urdf (more specific to the macro
defined in that file) which is done inside the ur.urdf.macro. Contents of the files are parsed
inside ur_common.xacro.
Arguments that have to be passed to the main ur.urdf.xacro file are:
- kinematics_params - Filename to the default_kinematics.yaml (or equivalent specific kinematics) file
- joint_limit_params - Filename to the joint_limits.yaml file
- physical_params - Filename to the physical_parameters.yaml file
- visual_params - Filename to the visual_params.yaml file
The launchfile launch/view_ur.launch.py abstracts these four parameters to one ur_type argument
which will basically replace the urXX part of the paths as shown in the picture above.
Creating your own description including this description
In real-world applications you will most probably have a more complex description consisting of more objects than just the robot. It is recommended to create a separate ROS package containing this particular description. Inside this description you could also store your robot-specific kinematics parameters file.
As mentioned above, see the urdf/ur.urdf.xacro file as an example to integrate a UR robot into
your scene description. Basically, you could create a copy of that file and extend it with the
modifications from your specific scene.
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | joint_state_publisher_gui | |
| 1 | launch | |
| 2 | launch_ros | |
| 2 | robot_state_publisher | |
| 1 | rviz2 | |
| 3 | urdf | |
| 1 | xacro | |
| 1 | ament_cmake_pytest | |
| 1 | launch_testing_ament_cmake | |
| 1 | launch_testing_ros |
System Dependencies
| Name |
|---|
| liburdfdom-tools |
Launch files
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
ur_description package from ur_robot_driver repour_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_description ur_moveit_config ur_robot_driver |
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|
Package Summary
| Tags | No category tags. |
| Version | 2.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
| VCS Type | git |
| VCS Version | foxy |
| Last Updated | 2023-04-17 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Marvin Große Besselmann
- Lovro Ivanov
- Denis Stogl
- Andy Zelenak
Authors
- Nadia Hammoudeh Garcia
- Kelsey Hawkins
- G.A. vd. Hoorn
- Lovro Ivanov
- Mathias Ludtke
- Wim Meeussen
- Felix Messmer
- Miguel Prada Sarasola
- Denis Stogl
Changelog for package ur_description
2.0.2 (2022-12-07)
2.0.1 (2022-08-01)
2.0.0 (2022-06-20)
- Migrated the description to ROS2
- Added support for Gazebo and Ignition
- Added ROS2_control definitions
- Contributors: AndyZe, Denis Stogl, Denis
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 2 | joint_state_publisher | |
| 1 | launch | |
| 2 | launch_ros | |
| 2 | robot_state_publisher | |
| 1 | rviz2 | |
| 3 | urdf | |
| 1 | xacro |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
ur_description package from universal_robots repouniversal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs |
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|
Package Summary
| Tags | No category tags. |
| Version | 1.1.11 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-industrial/universal_robot.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2018-01-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Felix Messmer
- G.A. vd. Hoorn
Authors
- Wim Meeussen
- Kelsey Hawkins
- Mathias Ludtke
- Felix Messmer
Changelog for package ur_description
1.1.11 (2018-01-06)
- Merge pull request #320 from gavanderhoorn/bp_268_indigo-devel Backport #268 to Indigo
- Fix elbow joint limits (#268)
- Contributors: Beatriz Leon, G.A. vd. Hoorn
1.1.10 (2017-08-04)
1.1.9 (2017-01-02)
- reintroduce \'pi\', unbrake dependent xacros.
- use \'--inorder\' to trigger use of jade+ xacro on Indigo.
- Contributors: gavanderhoorn
1.1.8 (2016-12-30)
- all: update maintainers.
- Contributors: gavanderhoorn
1.1.7 (2016-12-29)
- Fix xacro warnings in Jade (#251)
- added default values to xacro macro
- tested joint limits modification
- Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04
1.1.6 (2016-04-01)
- unify mesh names
- add color to avoid default color \'red\' for collision meshes
- use correct DH parameter + colored meshes
- introducing urdf for ur3 - first draft
- unify common xacro files
- remove obsolete urdf files
- description: add \'_joint\' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
- description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that \'base\' is essentially \'base_link\' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. \'tool0\' is similar to \'ee_link\', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
- description: minor whitespace cleanup of UR5 & 10 xacros.
- regenerate urdf files
- use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
- Contributors: gavanderhoorn, ipa-fxm
1.0.2 (2014-03-31)
1.0.1 (2014-03-31)
- changes due to file renaming
- generate urdfs from latest xacros
- file renaming
- adapt launch files in order to be able to use normal/limited xacro
- fixed typo in limits
- add joint_limited urdf.xacros for both robots
- (re-)add ee_link for both robots
- updates for latest gazebo under hydro
- remove ee_link - as in ur10
- use same xacro params as ur10
- use new transmission interfaces
- update xml namespaces for hydro
- remove obsolete urdf file
- remove obsolete urdf file
- Contributors: ipa-fxm
- Update ur10.urdf.xacro Corrected UR10\'s urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
- Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
- added corrected mesh file
- Added definitions for adding tergets in install folder. Issue #10.
- Corrected warning on xacro-files in hydro.
- Added definitions for adding tergets in install folder. Issue #10.
- Updated to catkin. ur_driver\'s files were added to nested Python directory for including in other packages.
- fixed name of ur5 transmissions
- patched gazebo.urdf.xacro to be compatible with gazebo 1.5
- fixed copy&paste error (?)
- prefix versions of gazebo and transmission macros
- Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
- Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
- Updated urdf files use collision/visual models.
- Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
- minor changes on ur5 xacro files
- Removed extra stl files and fixed indentions
- Renamed packages and new groovy version
- Added ur10 and renamed packages
- Contributors: Denis
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/ur3_upload.launch
-
- limited [default: false]
- launch/ur10_upload.launch
-
- limited [default: false]
- launch/ur5_upload.launch
-
- limited [default: false]
- launch/test.launch
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
ur_description package from universal_robots repouniversal_robot ur10_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.5 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-industrial/universal_robot.git |
| VCS Type | git |
| VCS Version | hydro-devel |
| Last Updated | 2015-03-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Alexander Bubeck
Authors
- Wim Meeussen
- Kelsey Hawkins
- Mathias Ludtke
- Felix Messmer
Changelog for package ur_description
1.0.2 (2014-03-31)
1.0.1 (2014-03-31)
- changes due to file renaming
- generate urdfs from latest xacros
- file renaming
- adapt launch files in order to be able to use normal/limited xacro
- fixed typo in limits
- add joint_limited urdf.xacros for both robots
- (re-)add ee_link for both robots
- updates for latest gazebo under hydro
- remove ee_link - as in ur10
- use same xacro params as ur10
- use new transmission interfaces
- update xml namespaces for hydro
- remove obsolete urdf file
- remove obsolete urdf file
- Contributors: ipa-fxm
- Update ur10.urdf.xacro Corrected UR10\'s urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
- Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
- added corrected mesh file
- Added definitions for adding tergets in install folder. Issue #10.
- Corrected warning on xacro-files in hydro.
- Added definitions for adding tergets in install folder. Issue #10.
- Updated to catkin. ur_driver\'s files were added to nested Python directory for including in other packages.
- fixed name of ur5 transmissions
- patched gazebo.urdf.xacro to be compatible with gazebo 1.5
- fixed copy&paste error (?)
- prefix versions of gazebo and transmission macros
- Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
- Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
- Updated urdf files use collision/visual models.
- Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
- minor changes on ur5 xacro files
- Removed extra stl files and fixed indentions
- Renamed packages and new groovy version
- Added ur10 and renamed packages
- Contributors: Denis
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/ur10_upload.launch
-
- limited [default: false]
- launch/ur5_upload.launch
-
- limited [default: false]
- launch/test.launch
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.2.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-industrial/universal_robot.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2019-11-23 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- G.A. vd. Hoorn
- Miguel Prada Sarasola
- Nadia Hammoudeh Garcia
Authors
- Wim Meeussen
- Kelsey Hawkins
- Mathias Ludtke
- Felix Messmer
Changelog for package ur_description
1.2.7 (2019-11-23)
1.2.6 (2019-11-19)
- Add optional safety_controller tags to all joints in xacro macros (#437)
- Migrated all package.xml files to format=2 (#439)
- Corrected dimensions and positions of inertias (#426)
- Add description view launch files for all descriptions to easily check them (#435)
- Contributors: Felix Mauch, JeremyZoss, Miguel Prada, Qiang Qiu, gavanderhoorn
1.2.5 (2019-04-05)
- Add transmission_hw_interface to UR xacro and expose everywhere (#392)
- Update maintainer listing: add Miguel (#410)
- Updated xacro namespace.
- Update maintainer and author information.
- Updated mesh ambience so the model isn\'t so dark in Gazebo
- Fix overlapping variable names between robot definition files (#356)
- Improve meshes shading (#233)
- Added run_depend for xacro
- Using the \'doc\' attribute on \'arg\' elements.
- Enable self collision in gazebo
- Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm
1.2.1 (2018-01-06)
- Merge pull request #329 from tecnalia-medical-robotics/joint_limits Homogenize xacro macro arguments.
- Merge pull request #332 from davetcoleman/kinetic_hw_iface_warning Remove UR3 ROS Control Hardware Interface warning
- Remove UR3 ROS Control Hardware Interface warning
- Extend changes to \'_robot.urdf.xacro\' variants as well.
- Homogenize xacro macro arguments. Joint limits for the limited version could be set using arguments for the UR10 but not for the UR3 and UR5. Same lower and upper limit arguments are added to the UR3 and UR5 xacro macros.
- Fix elbow joint limits (#268)
- Remove warning \'redefining global property: pi\' (Jade+) (#315)
- Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada
1.2.0 (2017-08-04)
1.1.9 (2017-01-02)
- reintroduce \'pi\', unbrake dependent xacros.
- use \'--inorder\' to trigger use of jade+ xacro on Indigo.
- Contributors: gavanderhoorn
1.1.8 (2016-12-30)
- all: update maintainers.
- Contributors: gavanderhoorn
1.1.7 (2016-12-29)
- Fix xacro warnings in Jade (#251)
- added default values to xacro macro
- tested joint limits modification
- Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04
1.1.6 (2016-04-01)
- unify mesh names
- add color to avoid default color \'red\' for collision meshes
- use correct DH parameter + colored meshes
- introducing urdf for ur3 - first draft
- unify common xacro files
- remove obsolete urdf files
- description: add \'_joint\' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
- description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that \'base\' is essentially \'base_link\' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. \'tool0\' is similar to \'ee_link\', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
- description: minor whitespace cleanup of UR5 & 10 xacros.
- regenerate urdf files
- use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
- Contributors: gavanderhoorn, ipa-fxm
1.0.2 (2014-03-31)
1.0.1 (2014-03-31)
- changes due to file renaming
- generate urdfs from latest xacros
- file renaming
- adapt launch files in order to be able to use normal/limited xacro
- fixed typo in limits
- add joint_limited urdf.xacros for both robots
- (re-)add ee_link for both robots
- updates for latest gazebo under hydro
- remove ee_link - as in ur10
- use same xacro params as ur10
- use new transmission interfaces
- update xml namespaces for hydro
- remove obsolete urdf file
- remove obsolete urdf file
- Contributors: ipa-fxm
- Update ur10.urdf.xacro Corrected UR10\'s urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
- Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
- added corrected mesh file
- Added definitions for adding tergets in install folder. Issue #10.
- Corrected warning on xacro-files in hydro.
- Added definitions for adding tergets in install folder. Issue #10.
- Updated to catkin. ur_driver\'s files were added to nested Python directory for including in other packages.
- fixed name of ur5 transmissions
- patched gazebo.urdf.xacro to be compatible with gazebo 1.5
- fixed copy&paste error (?)
- prefix versions of gazebo and transmission macros
- Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
- Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
- Updated urdf files use collision/visual models.
- Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
- minor changes on ur5 xacro files
- Removed extra stl files and fixed indentions
- Renamed packages and new groovy version
- Added ur10 and renamed packages
- Contributors: Denis
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/view_ur10.launch
- launch/view_ur3.launch
- launch/ur3_upload.launch
-
- limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- launch/view_ur5.launch
- launch/ur10_upload.launch
-
- limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- launch/ur5_upload.launch
-
- limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
Messages
Services
Plugins
Recent questions tagged ur_description at answers.ros.org
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.3.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-industrial/universal_robot.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2023-01-27 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- G.A. vd. Hoorn
- Miguel Prada Sarasola
- Nadia Hammoudeh Garcia
Authors
- Wim Meeussen
- Kelsey Hawkins
- Mathias Ludtke
- Felix Messmer
Changelog for package ur_description
1.3.1 (2022-11-11)
1.3.0 (2022-11-10)
- Merge melodic-devel-staging #617 from ros-industrial/melodic-devel-staging
- ur_description: Make robot name configurable on load_ur.launch (#612) In 9d02ccadc8fb9b5cfeaf0d5b0c0c7708d2461447 robot launchfiles were forwarded to their specialized launchfiles instead of setting the robot model in the load_ur.launch file.
- Fixed ur5 base height (#607) The visual and collision mesh of the base of the ur5 has to be moved 3 mm upwards in order to close the gap between the shoulder and align its bottom in the xy-plane. Otherwise the ur5 collides with the surface it is directly placed on.
- Merge pull request #602 from fmauch/fix_deprecation_warning fixing deprecation warning
- fixing deprecation warning
- ur_description: Use the per-model xacro files for correct robot name (#588) With the common xacro file the robot name will always be \"ur\". However, the moveit config packages expect the robot name to be e.g. \"ur10e\". This commit will use the macros containing the model name already.
- Increase minimum CMake version to allow builds on Focal Fossa (Noetic) (#586)
- Merge pull request #562 from fmauch/convenience_macros Add convenience macros for description files
- Replace __ prefixes (#579) With newer versions of xacro this leads to errors otherwise.
- description: provide convenience top-levels and macros. These avoid users having to provide values for all arguments of the \'ur_robot\' macro. In many cases, users will want to keep the default files for the joint limits, physical and visual parameters, and only override the default kinematics (to use extracted calibration fi). With the provided wrapper macros, this is possible, as variant-specific defaults are provided for all arguments, requiring only to override the required ones. Users looking to include a UR into a larger scene or composite xacro macro should \'xacro:include\' these \'_macro.xacro\' files. The top-levels are only useful when loading a stand-alone UR in an otherwise empty scene. They do not allow access to any arguments and only use the defaults.
- description: main macro xacro is not a top-level. So move to include directory.
- Merge pull request #533 from gavanderhoorn/yaml_ctors_rosparam_joint_limits description: spec limits in degrees.
- description: spec limits in degrees. Use rosparam\'s and xacro\'s support for these special constructors to convert to radians on-the-fly.
- Merge pull request #520 from gavanderhoorn/fix_yaml_loading Load yaml files in read_model_data(..), nowhere else
- description: delegate loading yaml files to read_model_data(..). This avoids having to \'remember\' to load_yaml(..) the contents of those files in every user of the \'ur_robot\' macro, and seems to conform to the idea behind the \'*_parameters_file\' naming of the parameters (they\'re paths to files, not yaml strings).
- Merge pull request #516 from gavanderhoorn/convert_limits_files Use \'ros_control style\' joint limit files
- description: load values from new params. \'ros_control format\' uses different names, so use them.
- description: they\'re joint limits. Not joints limits.
- description: load new joint limit files.
- description: convert joint limit files to \'ros_control format\'. This allows re-using them with MoveIt and ros_control hw interfaces.
- description: rename limit files. Bring in-line with other joint limit files.
- description: add missing safety_ctrlr for shoulder pan. (#514)
- description: correct joint limits for all supported variants. (#513) Based on values from the User Manuals.
- description: fix main macro docs. (#512)
- Merge pull request #505 from gavanderhoorn/fix_base_link_orientation Remove incorrect base_link rotation.
- description: correct orientation of Base mesh. Connector should be aligned with Y+ of \'base\' frame.
- description: fix orientation of \'base\' frame. So it\'s coincident with the robot\'s/controller\'s \'Base\' frame. It\'s actually 180 degrees rotated over Z wrt \'base_link\'.
- description: rotate for UR internal frames.
- description: introduce base_link_inertia link. To work around the root-link-with-inertia limitation in KDL.
- description: remove the \'base_correction\' property. There is an offset between \'base_link\' and \'base\', but it\'s a fixed one, known and does not need to be a property. Rectify the problem with the \'base_link\' mesh in a follow-up commit.
- description: assume -0==0. (#511)
- description: use mat def from yaml for base_link. (#509)
- description: reduce verbosity: pass all args. (#508) These convenience wrappers only setup defaults, and all args are needed, so pass all of them.
- Merge pull request #506 from gavanderhoorn/add_flange_frame Add flange frame
- description: use standard comments for base and tool0 frames. Aligned with other ROS-Industrial robot support packages.
- description: fix orientation of tool0. Now that flange is its parent.
- description: introduce flange frame. This is the correct EEF attachment point: REP-103 aligned and no unwanted rotations (as tool0).
- description: remove ee_link link. Also remove the tiny collision object, as it\'s no longer needed now that MoveIt has been fixed.
- description: clarify status of \'inc\' xacro files. (#507) As the way we model the robots may change in the future, users should consider these files as private. No guarantees are given as to the existence of these files or their contents.
- Merge pull request #497 from gavanderhoorn/desc_updates Misc updates to ur_description
- description: clarify note on base_correction property.
- description: typo.
- description: explain function of common load_ur launch file.
- description: recognise Mathias L
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/load_ur5e.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/view_ur10e.launch
- launch/view_ur10.launch
- launch/view_ur3.launch
- launch/load_ur10e.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur3.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur3/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur3/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur3/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur3/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur.launch
-
- joint_limit_params — YAML file containing the joint limit values
- kinematics_params — YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration.
- physical_params — YAML file containing the phycical parameters of the robots
- visual_params — YAML file containing the visual model of the robots
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- robot_model
- launch/view_ur3e.launch
- launch/view_ur16e.launch
- launch/view_ur5.launch
- launch/view_ur5e.launch
- launch/load_ur16e.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur16e/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur16e/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur16e/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur16e/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur10.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur10/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur10/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur10/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur10/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur5.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur5/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur5/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur5/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur5/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- launch/load_ur3e.launch
-
- joint_limit_params [default: $(find ur_description)/config/ur3e/joint_limits.yaml]
- kinematics_params [default: $(find ur_description)/config/ur3e/default_kinematics.yaml]
- physical_params [default: $(find ur_description)/config/ur3e/physical_parameters.yaml]
- visual_params [default: $(find ur_description)/config/ur3e/visual_parameters.yaml]
- transmission_hw_interface [default: hardware_interface/PositionJointInterface]
- safety_limits [default: false] — If True, enable the safety limits controller
- safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
- safety_k_position [default: 20] — Used to set k position in the safety controller
- tests/roslaunch_test_ur16e.xml
- tests/roslaunch_test_ur5e.xml
- tests/roslaunch_test_ur3.xml
- tests/roslaunch_test_ur3e.xml
- tests/roslaunch_test_ur5.xml
- tests/roslaunch_test_ur10.xml
- tests/roslaunch_test_ur10e.xml