ur_description package from ur_description repour_description |
|
Package Summary
Tags | No category tags. |
Version | 2.1.3 |
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 | 2024-03-20 |
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 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.
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 for package ur_description
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
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 Robotics Stack Exchange
ur_description package from ur_description repour_description |
|
Package Summary
Tags | No category tags. |
Version | 2.1.3 |
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 | 2024-03-20 |
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 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.
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 for package ur_description
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
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 Robotics Stack Exchange
ur_description package from ur_description repour_description |
|
Package Summary
Tags | No category tags. |
Version | 2.2.4 |
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 | 2024-03-20 |
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 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.
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.
Using description with ros2_control
The description itself does not contain a ros2_control
tag. However, the package provides a couple
of helper files to create your own ros2_control
tag describing the robot's joint control
mechanisms. See the urdf/ur_mocked.urdf.xacro
file as an example using mock
hardware
to control the robot.
Changelog for package ur_description
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)
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 Robotics Stack Exchange
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 |