Package Summary

Tags No category tags.
Version 2.1.5
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 2024-05-08
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
Humble humble Build Status ur_description
Iron iron Build Status ur_description
Jazzy rolling Build Status ur_description
Rolling rolling Build Status 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.

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

Universal Robots' Terms and Conditions for use of Graphical Documentation do not fully comply with OSI's definition of Open Source, but they do allow you to use, modify and share “Graphical Documentation”, including UR20 and UR30 meshes, subject to certain restrictions.\ If you have any questions regarding this license or if this license doesn't fit your use-case, please contact legal@universal-robots.com.

All other content is licensed under the BSD-3-Clause license

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

2.1.5 (2024-04-25)

  • Fix multi-line strings in DeclareLaunchArgument ( backport of #140) (#153)
  • Fix default calibration file for UR30 (#148)
  • Contributors: Matthijs van der Burgh, Felix Exner

2.1.4 (2024-04-04)

  • Update Graphical Documentation license to version 1.01 (#143)
  • Add UR30 model (#142)
  • Make sure the UR5 models are actually standing on the ground (#136)
  • Contributors: Felix Exner, RobertWilbrandt, Vincenzo Di Pentima

2.1.3 (2023-12-18)

  • Make ros2_control tag generation optional in macro (#121)
  • Contributors: Felix Exner (fexner)

2.1.2 (2023-11-17)

  • Add license comment to package.xml (#107)
  • License update for README (#108)
  • Default to non_blocking_read=true (#115)
  • added possibility to change reverse_port, script_sender_port and trajectory_port (#105) (#106)
  • Update README regarding distribution branches (#80) (#86)
  • Contributors: Felix Exner, Rune S

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 Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.3.0
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 iron
Last Updated 2024-05-08
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
Humble humble Build Status ur_description
Iron iron Build Status ur_description
Jazzy rolling Build Status ur_description
Rolling rolling Build Status 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.

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

Universal Robots' Terms and Conditions for use of Graphical Documentation do not fully comply with OSI's definition of Open Source, but they do allow you to use, modify and share “Graphical Documentation”, including UR20 and UR30 meshes, subject to certain restrictions.\ If you have any questions regarding this license or if this license doesn't fit your use-case, please contact legal@universal-robots.com.

All other content is licensed under the BSD-3-Clause license

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

2.3.0 (2024-04-25)

  • Update CI for iron
  • Fix multi-line strings in DeclareLaunchArgument (backport of #140) (#154) Co-authored-by: Matthijs van der Burgh <matthijs.vander.burgh@live.nl>
  • Fix default calibration file for UR30 (#151)
  • Update description for using gz The ign libs don\'t exist anymore on iron.
  • Contributors: Felix Exner, Matthijs van der Burgh

2.1.4 (2024-04-04)

  • Update Graphical Documentation license to version 1.01 (#143)
  • Add UR30 model (#142)
  • Make sure the UR5 models are actually standing on the ground (#136)
  • Contributors: Felix Exner, RobertWilbrandt, Vincenzo Di Pentima

2.1.3 (2023-12-18)

  • Make ros2_control tag generation optional in macro (#121)
  • Contributors: Felix Exner (fexner)

2.1.2 (2023-11-17)

  • Add license comment to package.xml (#107)
  • License update for README (#108)
  • Default to non_blocking_read=true (#115)
  • added possibility to change reverse_port, script_sender_port and trajectory_port (#105) (#106)
  • Update README regarding distribution branches (#80) (#86)
  • Contributors: Felix Exner, Rune S

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 Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.4.0
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 rolling
Last Updated 2024-05-14
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
Humble humble Build Status ur_description
Iron iron Build Status ur_description
Jazzy rolling Build Status ur_description
Rolling rolling Build Status 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.

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

Universal Robots' Terms and Conditions for use of Graphical Documentation do not fully comply with OSI's definition of Open Source, but they do allow you to use, modify and share “Graphical Documentation”, including UR20 and UR30 meshes, subject to certain restrictions.\ If you have any questions regarding this license or if this license doesn't fit your use-case, please contact legal@universal-robots.com.

All other content is licensed under the BSD-3-Clause license

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.

Further documentation

For further documentation about this description, please see doc/index.rst.

CHANGELOG

Changelog for package ur_description

2.4.0 (2024-04-25)

  • Fix multi-line strings in DeclareLaunchArgument (#140)
  • Add mergify rule for iron branch (#120)
  • Fix default calibration file for UR30
  • Contributors: Felix Exner, Matthijs van der Burgh, RobertWilbrandt

2.2.5 (2024-04-04)

  • Auto-update pre-commit hooks (#130)
  • Bump pre-commit/action from 3.0.0 to 3.0.1 (#134)
  • Bump peter-evans/create-pull-request from 5 to 6 (#133)
  • Update Graphical Documentation license to version 1.01
  • Make sure the UR5 models are actually standing on the ground
  • Contributors: Felix Exner, dependabot[bot], github-actions[bot]

2.2.4 (2023-12-22)

  • Add UR30 model (#126)
  • Contributors: Felix Exner (fexner)

2.2.3 (2023-12-18)

  • Auto-update pre-commit hooks (#123)
  • Bump actions/setup-python from 4 to 5 (#122)
  • Remove ros2_control tag from package (#114)
  • Contributors: Felix Exner

2.2.2 (2023-11-15)

  • Default to non_blocking_read=true (#111)
  • Add license comment to package.xml (#107)
  • License update for README (#108)
  • added possibility to change reverse_port, script_sender_port and trajectory_port (#105)
  • Contributors: Felix Durchdewald, Felix Exner, Rune S

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 Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.4.0
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 rolling
Last Updated 2024-05-14
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
Humble humble Build Status ur_description
Iron iron Build Status ur_description
Jazzy rolling Build Status ur_description
Rolling rolling Build Status 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.

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

Universal Robots' Terms and Conditions for use of Graphical Documentation do not fully comply with OSI's definition of Open Source, but they do allow you to use, modify and share “Graphical Documentation”, including UR20 and UR30 meshes, subject to certain restrictions.\ If you have any questions regarding this license or if this license doesn't fit your use-case, please contact legal@universal-robots.com.

All other content is licensed under the BSD-3-Clause license

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.

Further documentation

For further documentation about this description, please see doc/index.rst.

CHANGELOG

Changelog for package ur_description

2.4.0 (2024-04-25)

  • Fix multi-line strings in DeclareLaunchArgument (#140)
  • Add mergify rule for iron branch (#120)
  • Fix default calibration file for UR30
  • Contributors: Felix Exner, Matthijs van der Burgh, RobertWilbrandt

2.2.5 (2024-04-04)

  • Auto-update pre-commit hooks (#130)
  • Bump pre-commit/action from 3.0.0 to 3.0.1 (#134)
  • Bump peter-evans/create-pull-request from 5 to 6 (#133)
  • Update Graphical Documentation license to version 1.01
  • Make sure the UR5 models are actually standing on the ground
  • Contributors: Felix Exner, dependabot[bot], github-actions[bot]

2.2.4 (2023-12-22)

  • Add UR30 model (#126)
  • Contributors: Felix Exner (fexner)

2.2.3 (2023-12-18)

  • Auto-update pre-commit hooks (#123)
  • Bump actions/setup-python from 4 to 5 (#122)
  • Remove ros2_control tag from package (#114)
  • Contributors: Felix Exner

2.2.2 (2023-11-15)

  • Default to non_blocking_read=true (#111)
  • Add license comment to package.xml (#107)
  • License update for README (#108)
  • added possibility to change reverse_port, script_sender_port and trajectory_port (#105)
  • Contributors: Felix Durchdewald, Felix Exner, Rune S

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 Robotics Stack Exchange

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

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
Humble humble Build Status ur_description
Iron iron Build Status ur_description
Rolling rolling Build Status 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.

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

2.2.1 (2023-09-08)

  • Update the joint limits for UR20 (#98)
  • UR20 description and meshes (#94) The UR20 meshes are added under Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation
  • Contributors: Rune S

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 Robotics Stack Exchange