Package Summary

Tags No category tags.
Version 2.0.0
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 2022-03-30
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

URDF description for Universal Robots

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 ros2 Galactic Binary Build
ur_description
Rolling ros2 Rolling Binary Build
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.

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.

urdf structure

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.

CHANGELOG

Changelog for package ur_description

2.0.0 (2022-03-17)

  • Migrated the description to ROS2
  • Added support for Gazebo and Ignition
  • Added ROS2_control definitions
  • Contributors: AndyZe, Denis Stogl, Denis

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_description at answers.ros.org

Package Summary

Tags No category tags.
Version 2.0.0
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 2022-03-30
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

URDF description for Universal Robots

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 ros2 Galactic Binary Build
ur_description
Rolling ros2 Rolling Binary Build
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.

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.

urdf structure

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.

CHANGELOG

Changelog for package ur_description

2.0.0 (2022-03-17)

  • Migrated the description to ROS2
  • Added support for Gazebo and Ignition
  • Added ROS2_control definitions
  • Contributors: AndyZe, Denis Stogl, Denis

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_description at answers.ros.org

Package Summary

Tags No category tags.
Version 2.0.0
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 2022-03-30
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

URDF description for Universal Robots

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 ros2 Galactic Binary Build
ur_description
Rolling ros2 Rolling Binary Build
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.

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.

urdf structure

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.

CHANGELOG

Changelog for package ur_description

2.0.0 (2022-03-17)

  • Migrated the description to ROS2
  • Added support for Gazebo and Ignition
  • Added ROS2_control definitions
  • Contributors: AndyZe, Denis Stogl, Denis

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_description at answers.ros.org