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ur_robot_driver package from ur_robot_driver repour_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
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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_Driver.git |
| VCS Type | git |
| VCS Version | galactic |
| Last Updated | 2022-05-06 |
| 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
- Denis Stogl
- Felix Exner
- Tristan Schnell
Authors
- Thomas Timm Andersen
- Simon Rasmussen
- Felix Exner
- Lea Steffen
- Tristan Schnell
ur_robot_driver
This package contains the actual driver for UR robots. It is part of the universal_robots_driver repository and requires other packages from that repository. Also, see the main repository's README for information on how to install and startup this driver.
ROS-API
The ROS API is documented in a standalone document.
Technical details
The following image shows a very coarse overview of the driver's architecture.
Upon connection to the primary interface the robot sends version and calibration information which is consumed by the calibration_check. If the calibration reported by the robot doesn't match the one configured (See calibration guide) an error will be printed to Roslog.
Real-time data from the robot is read through the RTDE interface. This is done automatically as soon as a connection to the robot could be established. Thus joint states and IO data will be immediately available.
To actually control the robot, a program node from the External Control URCap must be running on the robot interpreting commands sent from an external source. When this program is not running, no controllers moving the robot around will be available. Please see the initial setup guide on how to install and start this on the robot.
The URScript that will be running on the robot is requested by the External Control program node
from the remote ROS PC. The robot ur_control.launch file has a parameter called urscript_file to
select a different program than the default one that will be sent as a response to a program
request.
Custom script snippets can be sent to the robot on a topic basis. By default, they will
interrupt other programs (such as the one controlling the robot). For a certain subset of functions,
it is however possible to send them as secondary programs. See UR
documentation
on details.
Note to e-Series users:
The robot won't accept script code from a remote source unless the robot is put into
remote_control-mode. However, if put into remote_control-mode, the program containing the
External Control program node can't be started from the panel.
For this purpose, please use the dashboard services to load, start and stop the main program
running on the robot. See the ROS-API documentation for details on the
dashboard services.
For using the tool communication interface on e-Series robots, a socat script is prepared to
forward the robot's tool communication interface to a local device on the ROS PC. See the tool
communication setup guide for details.
This driver is using ROS-Control for any control statements.
Therefore, it can be used with all position-based controllers available in ROS-Control. However, we
recommend using the controllers from the ur_controllers package. See it's
documentation for details. Note: Speed scaling support will only be
available using the controllers from ur_controllers
A note about modes
The term mode is used in different meanings inside this driver.
Remote control mode
On the e-series the robot itself can operate in different command modes: It can be either in local control mode where the teach pendant is the single point of command or in remote control mode, where motions from the TP, starting & loading programs from the TP activating the freedrive mode are blocked. Note that the remote control mode has to be explicitly enabled in the robot's settings under Settings -> System -> Remote Control. See the robot's manual for details.
The remote control mode is needed for many aspects of this driver such as
* headless mode (see below)
* sending script code to the robot
* many dashboard functionalities such as
* restarting the robot after protective / EM-Stop
* powering on the robot and do brake release
* loading and starting programs
* the set_mode action, as it uses the dashboard calls mentioned above
Headless mode
Inside this driver, there's the headless mode, which can be either enabled or not. When the
headless mode is activated, required script
code for external control will be sent to the robot directly when the driver starts. As soon as
other script code is sent to the robot either by sending it directly through this driver or by
pressing any motion-related button on the teach pendant, the script will be overwritten by this
action and has to be restarted by using the
resend_robot_program service. If this
is necessary, you will see the output Connection to robot dropped, waiting for new connection.
from the driver. Note that pressing "play" on the TP won't start the external control again, but
whatever program is currently loaded on the controller. This mode doesn't require the "External
Control" URCap being installed on the robot as the program is sent to the robot directly. However,
we recommend to use the non-headless mode and leverage the set_mode action to start program
execution without the teach pendant. The headless mode might be removed in future releases.
Note for the e-Series: In order to leverage the headless mode on the e-Series the robot must be in remote_control_mode as explained above.
controller_stopper
A small helper node that stops and restarts ROS controllers based on a boolean status topic. When the status goes to false, all running controllers except a set of predefined consistent_controllers gets stopped. If status returns to true the stopped controllers are restarted.
This is done by Subscribing to a robot's running state topic. Ideally this topic is latched and only publishes on changes. However, this node only reacts on state changes, so a state published each cycle would also be fine.
2.1.1 (2022-05-05)
2.1.0 (2022-05-03)
- Updated package maintainers (#360)
- Add resource files from ROS World. (#226)
- Add sphinx documentation (#340)
- Update license to BSD-3-Clause (#277)
- Update ROS_INTERFACE.md to current driver (#335)
- Fix hardware interface names in error output (#329)
- Added controller stopper node (#309)
- Correct link to calibration extraction (#310)
- Start the tool communication script if the flag is set (#267)
- Change driver constructor and change calibration check (#282)
- Use GPIO tag from URDF in driver. (#224)
- Separate control node (#281)
- Add missing dependency on angles and update formatting for linters. (#283)
- Do not print an error output if writing is not possible (#266)
- Update features.md (#250)
- Tool communication (#218)
- Payload service (#238)
- Import transformation of force-torque into tcp frame from ROS1 driver (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/src/hardware_interface.cpp). (#237)
- Make reading and writing work when hardware is disconnected (#233)
- Add missing command and state interfaces to get everything working with the fake hardware and add some comment into xacro file to be clearer. (#221)
- Decrease the rate of async tasks. (#223)
- Change robot type. (#220)
- Driver to headless. (#217)
- Test execution tests (#216)
- Integration tests improvement (#206)
- Set start modes to empty. Avoid position ctrl loop on start. (#211)
- Add resend program service and enable headless mode (#198)
- Implement \"choices\" for robot_type param (#204)
- Calibration extraction package (#186)
- Add breaking api changes from ros2_control to hardware_interface (#189)
- Fix prepare and perform switch operation (#191)
- Update CI configuration to support galactic and rolling (#142)
- Dockerize ursim with driver in docker compose (#144)
- Enabling velocity mode (#146)
- Moved registering publisher and service to on_active (#151)
- Converted io_test and switch_on_test to ROS2 (#124)
- Added loghandler to handle log messages from the Client Library with ... (#126)
- Removed dashboard client from hardware interface
- [WIP] Updated feature list (#102)
- Moved Async check out of script running check (#112)
- Fix gpio controller (#103)
- Fixed speed slider service call (#100)
- Adding missing backslash and only setting workdir once (#108)
- Added dockerfile for the driver (#105)
- Using official Universal Robot Client Library (#101)
- Reintegrating missing ur_client_library dependency since the break the building process (#97)
- Fix readme hardware setup (#91)
- Fix move to home bug (#92)
- Using modern python
- Some intermediate commit
- Remove obsolete and unused files and packages. (#80)
- Review CI by correcting the configurations (#71)
- Add support for gpios, update MoveIt and ros2_control launching (#66)
- Quickfix against move home bug
- Added missing initialization
- Use GitHub Actions, use pre-commit formatting (#56)
- Put dashboard services into corresponding namespace
- Start dashboard client from within the hardware interface
- Added try catch blocks for service calls
- Removed repeated declaration of timeout parameter which lead to connection crash
- Removed static service name in which all auto generated services where mapped
- Removed unused variable
- Fixed clang-format issue
- Removed all robot status stuff
- Exchanged hardcoded value for RobotState msgs enum
- Removed currently unused controller state variables
- Added placeholder for industrial_robot_status_interface
- Fixed clang issues
- Added checks for internal robot state machine
- Only load speed scaling interface
- Changed state interface to combined speed scaling factor
- Added missing formatting in hardware interface
- Initial version of the speed_scaling_state_controller
- Fix clang tidy in multiple pkgs.
- Clang tidy fix.
- Update force torque state controller.
- Prepare for testing.
- Fix decision breaker for position control. Make decision effect instantaneous.
- Use only position interface.
- Update hardware interface for ROS2 (#8)
- Update the dashboard client for ROS2 (#5)
- Hardware interface framework (#3)
- Add XML schema to all
package.xmlfiles - Silence
ament_lint_cmakeerrors - Update packaging for ROS2
- Update package.xml files so
ros2 pkg listshows all pkgs - Clean out ur_robot_driver for initial ROS2 compilation
- Compile ur_dashboard_msgs for ROS2
- Delete all launch/config files with no UR5 relation
- Initial work toward compiling ur_robot_driver
- Update CMakeLists and package.xml for:
- ur5_moveit_config
- ur_bringup
- ur_description
- Change pkg versions to 0.0.0
- Contributors: AndyZe, Denis Stogl, Denis
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged ur_robot_driver at answers.ros.org
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ur_robot_driver package from ur_robot_driver repour_bringup ur_controllers ur_dashboard_msgs ur_description ur_moveit_config ur_robot_driver |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| 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 | 2022-05-10 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| 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
- Thomas Timm Andersen
- Simon Rasmussen
- Felix Exner
- Lea Steffen
- Tristan Schnell
ur_robot_driver
This package contains the actual driver for UR robots. It is part of the universal_robots_driver repository and requires other packages from that repository. Also, see the main repository's README for information on how to install and startup this driver.
ROS-API
The ROS API is documented in a standalone document. It is auto-generated using catkin_doc.
Technical details
The following image shows a very coarse overview of the driver's architecture.
Upon connection to the primary interface the robot sends version and calibration information which is consumed by the calibration_check. If the calibration reported by the robot doesn't match the one configured (See calibration guide) an error will be printed to Roslog.
Real-time data from the robot is read through the RTDE interface. This is done automatically as soon as a connection to the robot could be established. Thus joint states and IO data will be immediately available.
To actually control the robot, a program node from the External Control URCap must be running on the robot interpreting commands sent from an external source. When this program is not running, no controllers moving the robot around will be available, which is handled by the controller_stopper. Please see the initial setup guide on how to install and start this on the robot.
The URScript that will be running on the robot is requested by the External Control program node
from the remote ROS PC. The robot ur_control.launch file has a parameter called urscript_file to
select a different program than the default one that will be sent as a response to a program
request.
Custom script snippets can be sent to the robot on a topic basis. By default, they will
interrupt other programs (such as the one controlling the robot). For a certain subset of functions,
it is however possible to send them as secondary programs. See UR
documentation
on details.
Note to e-Series users:
The robot won't accept script code from a remote source unless the robot is put into
remote_control-mode. However, if put into remote_control-mode, the program containing the
External Control program node can't be started from the panel.
For this purpose, please use the dashboard services to load, start and stop the main program
running on the robot. See the ROS-API documentation for details on the
dashboard services.
For using the tool communication interface on e-Series robots, a socat script is prepared to
forward the robot's tool communication interface to a local device on the ROS PC. See the tool
communication setup guide for details.
This driver is using ROS-Control for any control statements.
Therefore, it can be used with all position-based controllers available in ROS-Control. However, we
recommend using the controllers from the ur_controllers package. See it's
documentation for details. Note: Speed scaling support will only be
available using the controllers from ur_controllers
A note about modes
The term mode is used in different meanings inside this driver.
Remote control mode
On the e-series the robot itself can operate in different command modes: It can be either in local control mode where the teach pendant is the single point of command or in remote control mode, where motions from the TP, starting & loading programs from the TP activating the freedrive mode are blocked. Note that the remote control mode has to be explicitly enabled in the robot's settings under Settings -> System -> Remote Control. See the robot's manual for details.
The remote control mode is needed for many aspects of this driver such as
* headless mode (see below)
* sending script code to the robot
* many dashboard functionalities such as
* restarting the robot after protective / EM-Stop
* powering on the robot and do brake release
* loading and starting programs
* the set_mode action, as it uses the dashboard calls mentioned above
Headless mode
Inside this driver, there's the headless mode, which can be either enabled or not. When the
headless mode is activated, required script
code for external control will be sent to the robot directly when the driver starts. As soon as
other script code is sent to the robot either by sending it directly through this driver or by
pressing any motion-related button on the teach pendant, the script will be overwritten by this
action and has to be restarted by using the
resend_robot_program service. If this
is necessary, you will see the output Connection to robot dropped, waiting for new connection.
from the driver. Note that pressing "play" on the TP won't start the external control again, but
whatever program is currently loaded on the controller. This mode doesn't require the "External
Control" URCap being installed on the robot as the program is sent to the robot directly. However,
we recommend to use the non-headless mode and leverage the set_mode action to start program
execution without the teach pendant. The headless mode might be removed in future releases.
Note for the e-Series: In order to leverage the headless mode on the e-Series the robot must be in remote_control_mode as explained above.
controller_stopper
A small helper node that stops and restarts ROS controllers based on a boolean status topic. When the status goes to false, all running controllers except a set of predefined consistent_controllers gets stopped. If status returns to true the stopped controllers are restarted.
This is done by Subscribing to a robot's running state topic. Ideally this topic is latched and only publishes on changes. However, this node only reacts on state changes, so a state published each cycle would also be fine.
0.0.3 (2019-08-09)
- Added a service to end ROS control from ROS side
- Publish IO state on ROS topics
- Added write channel through RTDE with speed slider and IO services
- Added subscriber to send arbitrary URScript commands to the robot
0.0.2 (2019-07-03)
- Fixed dependencies and installation
- Updated README
- Fixed passing parameters through launch files
- Added support for correctly switching controllers during runtime and using the standard joint_trajectory_controller
- Updated externalcontrol URCap to version 1.0.2
- Fixed Script timeout when running the URCap inside of a looping tree
- Fixed a couple of typos
- Increased minimal required UR software version to 3.7/5.1
0.0.1 (2019-06-28)
Initial release
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged ur_robot_driver at answers.ros.org
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ur_robot_driver package from ur_robot_driver repocontroller_stopper ur_calibration ur_dashboard_msgs ur_robot_driver |
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Package Summary
| Tags | No category tags. |
| Version | 2.0.0 |
| License | Apache-2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-04-28 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Felix Exner
Authors
- Thomas Timm Andersen
- Simon Rasmussen
- Felix Exner
- Lea Steffen
- Tristan Schnell
ur_robot_driver
This package contains the actual driver for UR robots. It is part of the universal_robots_driver repository and requires other packages from that repository. Also, see the main repository's README for information on how to install and startup this driver.
ROS-API
The ROS API is documented in a standalone document. It is auto-generated using catkin_doc.
Technical details
The following image shows a very coarse overview of the driver's architecture.
Upon connection to the primary interface the robot sends version and calibration information which is consumed by the calibration_check. If the calibration reported by the robot doesn't match the one configured (See calibration guide) an error will be printed to Roslog.
Real-time data from the robot is read through the RTDE interface. This is done automatically as soon as a connection to the robot could be established. Thus joint states and IO data will be immediately available.
To actually control the robot, a program node from the External Control URCap must be running on the robot interpreting commands sent from an external source. When this program is not running, no controllers moving the robot around will be available, which is handled by the controller_stopper. Please see the initial setup guide on how to install and start this on the robot.
The URScript that will be running on the robot is requested by the External Control program node
from the remote ROS PC. The robot ur_control.launch file has a parameter called urscript_file to
select a different program than the default one that will be sent as a response to a program
request.
Custom script snippets can be sent to the robot on a topic basis. By default, they will
interrupt other programs (such as the one controlling the robot). For a certain subset of functions,
it is however possible to send them as secondary programs. See UR
documentation
on details.
Note to e-Series users:
The robot won't accept script code from a remote source unless the robot is put into
remote_control-mode. However, if put into remote_control-mode, the program containing the
External Control program node can't be started from the panel.
For this purpose, please use the dashboard services to load, start and stop the main program
running on the robot. See the ROS-API documentation for details on the
dashboard services.
For using the tool communication interface on e-Series robots, a socat script is prepared to
forward the robot's tool communication interface to a local device on the ROS PC. See the tool
communication setup guide for details.
This driver is using ROS-Control for any control statements.
Therefore, it can be used with all position-based controllers available in ROS-Control. However, we
recommend using the controllers from the scaled_trajectory_controller package. See its
documentation for details. Note: Speed scaling support will only be
available using the controllers from scaled_trajectory_controller
A note about modes
The term mode is used in different meanings inside this driver.
Remote control mode
On the e-series the robot itself can operate in different command modes: It can be either in local control mode where the teach pendant is the single point of command or in remote control mode, where motions from the TP, starting & loading programs from the TP activating the freedrive mode are blocked. Note that the remote control mode has to be explicitly enabled in the robot's settings under Settings -> System -> Remote Control. See the robot's manual for details.
The remote control mode is needed for many aspects of this driver such as
* headless mode (see below)
* sending script code to the robot
* many dashboard functionalities such as
* restarting the robot after protective / EM-Stop
* powering on the robot and do brake release
* loading and starting programs
* the set_mode action, as it uses the dashboard calls mentioned above
Headless mode
Inside this driver, there's the headless mode, which can be either enabled or not. When the
headless mode is activated, required script
code for external control will be sent to the robot directly when the driver starts. As soon as
other script code is sent to the robot either by sending it directly through this driver or by
pressing any motion-related button on the teach pendant, the script will be overwritten by this
action and has to be restarted by using the
resend_robot_program service. If this
is necessary, you will see the output Connection to robot dropped, waiting for new connection.
from the driver. Note that pressing "play" on the TP won't start the external control again, but
whatever program is currently loaded on the controller. This mode doesn't require the "External
Control" URCap being installed on the robot as the program is sent to the robot directly. However,
we recommend to use the non-headless mode and leverage the set_mode action to start program
execution without the teach pendant. The headless mode might be removed in future releases.
Note for the e-Series: In order to leverage the headless mode on the e-Series the robot must be in remote_control_mode as explained above.
2.0.0 (2021-09-07)
- Merge pull request
#408
from UniversalRobots/staging Adds new features to the driver:
- Cartesian position-based control
- Cartesian twist-based control
- Trajectory forwarding for execution on robot
- More documentation and examples
- Merge branch \'master\' into staging
- Merge pull request #437 from UniversalRobots/test_move Add test_move script
- Move test_move files into one
- Added a full guide for starting with the driver
-
Add more documentation to new features (#423)
- Added a description for all controllers
- Link repositories of URCap repos in feature list
- Added note about blending with pass_through_controllers
* Apply suggestions from code review Thanks \@stefanscherzinger Co-authored-by: Stefan Scherzinger <scherzin@fzi.de> Co-authored-by: Stefan Scherzinger <scherzin@fzi.de>
Add missing license header to tool_communication
Added Cartesian test_move script
Added choice of trajectory controller and require confirmation
Fix default controller in common launchfile As mentioned in #206 this lists a non-existing controller
Added test_move script
-
Added log handler for handling log messages from client library with ... (#398)
- Added log handler for handling log messages from client library with ROS logging
Merge pull request #420 from fmauch/update_feature_list Update feature list
Added new control modes
Removed comparison to ur_modern driver no point in doing this anymore.
Updated ROS2 notice
Added \"On behalf of Universal Robots A/S\" notice (#416) Removed copyright notice from LICENSE file, as the license file itself isn\'t copyrighted by FZI
Merge pull request #413 from fmauch/cartesian_control Cartesian control
Fix wait_for_server calls Rospy action_client.wait_for_server returns false instead of raising an exception
Removed unneeded debug output
Made twist controller an exec_depend
Added Test for twist interface (#2)
Added test for pose based cartesian trajectory execution
added tcp pose of robot to cartesian pose interface read
Adapt to new controller namespaces The namespaces have been moved upstream and we shall adapt to that
added interface for cartesian pose streaming
Added new controllers to controller configuration
added twist interface for cartesian velocity control of the robot co-authored by Tristan Schnell <schnell@fzi.de>
Merge pull request #396 from fmauch/trajectory_interface Adds an interface for trajectory forwarding Complete trajectories (joint-based and Cartesian) can be forwarded to the robot controller for interpolation and execution.
Added test for pose based cartesian trajectory execution
Add trajectory_port to hw-interface config
Fix execution states
Adapt to pass_though_controllers refactoring
Register DoneCallback to trajectory passthrough
added comment about angle representation Co-authored-by: Stefan Scherzinger <scherzin@fzi.de>
changed trajectory action parameter for trajectory control messages to enum
added feedback output to cartesian and joint-based trajectory forwarding
controller config and launchfile updates for pass-through controllers
added interface for cartesian trajectory forwarding
added interfaces for joint trajectory forwarding controller
Call calibration check in ROS driver (#366) Mandatory check in the client library has been deprecated.
add reverse_ip argument (#412) Co-authored-by: JS00000 <winyangyuxin22@hotmail.com>
Use urscript file from client library by default
Merge pull request #400 from fmauch/external_scaling_interface Use speed scaling interface from external package and remove ur_contr...
Update ur_robot_driver/README.md Co-authored-by: Stefan Scherzinger <scherzin@fzi.de>
use the changed namespace of the scaling interface
Use speed scaling interface from external package and remove ur_controllers
Add partner logos to README (#393)
Merge pull request #389 from fmauch/run_trajectory_test rename test method to be actually run by unittest
power cycle robot before trajectory test to make sure the controller is running
rename test method to be actually run by unittest
Fix heading level for set_payload service
Fixes reading has_realtime property Reading this from system may end up in undefined behavior. (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/306)
ensure extractToolPose always returns a valid transform (#372) Quaternion() returns 0,0,0,0 which leads to an invalid transform.
Merge pull request #97 from fmauch/description_dev Use new ur_description_model
Merge pull request #382 from fmauch/trajectory_tests Trajectory tests
Run all integration tests in one test
Make trajectory test monolithic Otherwise the trajectory tests might be running in parallel.
Added note about the kinematics_config file
Adapted to changed payload service
Removed double yaml
Updated default kinematics filename and removed ur_e_description
Adapt to renamed description launchfiles
Added ur16 support
Use new description package with unified xacro arguments
-
add arg for servoj_gain servoj_lookahead_time in ur_control.launch (#354)
- add arg for servoj_gain servoj_lookahead_time in ur_control.launch
- add default
Added robot_ip and robot_type argument for integrations test
Added headless mode to the feature list
Remove manual keepalive message from script This is actually not properly checked by the driver, as keepalive signals won\'t be sent when the program is paused.
Merge pull request #342 from fmauch/urcap_1.0.5 Use external_control urcap version 1.0.5
Added header and control loop definitions.
Update external_control urcap to version 1.0.5
Replace two logging macros with ROS logging macros. (#330) Inside the driver we want to use plain ROS logging instead of the library\'s logging macros.
Use catkin_install_python macro for python files (#318) This macro works just like the normal install macro, but it also automatically changes the shebang line in the python file to python2 or python3, depending which version is used. See: http://wiki.ros.org/UsingPython3/SourceCodeChanges#Changing_shebangs What this means is that this package can be used with Python3 without any further changes, for example in ROS Noetic.
Wait for reverse socket response (#288) * Remove timeout and wait for response on reverse socket read Co-authored-by: Tom Queen <
> Merge pull request #266 from UniversalRobots/separation Use ur_client_library package for building this driver
Merge pull request #270 from UniversalRobots/ur16e Ur16e
Replaced image by a version containing all 4 e-Series robots
Add launchfile for ur16e
-
Updated externalcontrol to v1.0.3 (#245)
- Updated externalcontrol to v1.0.3
- Updated externalcontrol to v1.0.4
remove check_urls job This is done in the upstream library now
Removed rtde_client test That moved to the library and makes more sense there.
Moved files out of redundant \"ros\" subfolder Before, we had library compnents in other subfolders, but they got moved out.
Use namespace urcl instead of ur_driver
Renamed library
Make tests use separate library, as well. Ultimately, this test should be moved to the library itself.
Made library fully independent
use ur_lib from separate package
Disable trajectory test for now (#264) The trajectory test seems to not work anymore since a couple of weeks. Running those locally (also with a ursim running inside a docker container) works perfectly fine, but running it inside the github action not. As this is blocking many merges currently, I suggest to disable this temporarily while opening an issue to fix it.
Use Robot_hw_nh node handle for joints. (#227) modified hardware interface to look for joints parameter under the robot_hw node handle
Correct name of e-series in README
Specify container IP addresses for testing purposes Before, the default Docker network in the range 172.17.0.0/16 was used. Since a specific IP cannot be chosen/guaranteed within this range, a network is now created with range 192.168.0.0/16, which allows for assigning specific IPs to the containers. Co-authored-by: Emil Vincent Ancker <emva@universal-robots.com>
-
Added a service to setup the active payload (#50)
- Added a service to setup the active payload
Add prefix to wrench hw interface (#217) Use a parameter to set the wrench name This name will be picked up by the force_torque_sensor_controller in order to name the respective topic. Co-authored-by: carebare47 <tom@shadowrobot.com>
Merge pull request #209 from fmauch/testing_scripts Add integration tests for automated testing
Install resources directory (#225)
Tests: Update the name of the trajectory controller
Merge remote-tracking branch \'origin/master\' into testing_scripts
Install resources directory
Add a gtest for RTDE client only
Throw an exception when the recipe file cannot be read
Added a running member to actually join the RTDEWriter thread
Use a remap for the controller topic
Use a test_depend for rostest
replaced legacy package name
specifically initialize robot before trajectory test
Use enum identifier instead of hard coded value
Added test for explicitly scaled trajectory execution
Add a failing test I want to see whether the tests actually fail
Moved everything to rostests Run docker ursim externally in GH action
Renamed _traj_controllers to_joint_traj_controller (#214)
driver: use default rate for JTC goal monitor. (#221) The old values overrode the default of 20 Hz, which is low and leads to a worst-case delay of approx 100 ms between a goal state change and action clients being notified of that change. This restores the rate to the default of 20 Hz. If a higher update-rate would be desirable for a particular application, users should change it in their own configuration of the controllers.
Prefixing ExternalControl to log messages (#222) Co-authored-by: kut <kut@ubuntu.p52.ipa>
Updated packaged externalcontrol urcap to v1.0.2 (#208)
added basic action node for an IO integration test
added basic action client node for a trajectory following integration test
Export hardware interface library in CMakeLists (#202) Usage of the driver in a combined_robot_hw requires this change, as there will otherwise be undefined symbols from hardware_interface.cpp.
Fix variable type checking in rtde_client (#203)
Merge pull request #193 from UniversalRobots/add_documentation_link Add actual documentation link into calibration checker output
robot_driver: use pass_all_args to reduce verbosity. (#197) The wrapper launch files essentially only provide defaults, and the common launch file requires all arguments, so we can just forward them.
Draft for checking URLs
Add actual documentation link into calibration checker output The output was generated when we didn\'t have the final repository available. However, updating the output got lost over time...
Retry reading RTDE interface when unexpected messages appear during s... (#186) * Retry reading RTDE interface when unexpected messages appear during startup At startup we make a couple of requests to the RTDE interface. If the interface publishes messages by itself, a simple read() from the interface might grab another message than the answer. This change checks whether an answer to our requests was received and reports a warning otherwise while retrying.
Merge pull request #177 from UniversalRobots/fix_robot_state_helper Make robot_state helper wait for a first status from robot before advertising the set_mode action.
Merge pull request #179 from UniversalRobots/improve_docs Improve documentation
replaced ros references that shouldn\'t be there (#178) We want to keep the pure driver part ros-independent
Added a short section about remote-control and headless mode
Added additional waitForService for dashboard service
Add initialization routine for first messages
Initialize member variables It can happen that the action gets triggered before the mode callback got triggered While this changes stops the helper from crashing when this happens, it might not be the best idea to do so as the question remains, what we should do if we haven\'t even received a current status from the robot. With the changes introduced inside this commit, the helper would trigger the respective state changes, which might lead to wrong requests if we aren\'t entirely sure what to do. One solution would be to reject goals as long as no status was received, but that would break such scenarios where you want to activate the robot automatically during startup. Another idea would be to delay actually starting the action server until we received both, robot mode and safety mode. But I am not entirely sure whether this will scale well.
get effort feedback in joint_states (#160) Add joint currents as efforts in joint_state Co-authored-by: tonkei0361 <tonkei0361@gmail.com>
Merge pull request #166 from UniversalRobots/packaget Use the package type and not the header type as template parameter for communication
Implemented consuming for all primary types Also removed unused datatypes
Added documentation
Added an abstract primary consumer that can serve as a base for the visitor pattern
Template all comm objects with the actual package type, not the header type When designing this driver we wanted to have all communication objects inherit from one common Package class. As we want to serve two different protocols (RTDE and Primary/Secondary), we had this Package class templated with a header type which is different in the two protocols. With this design decision we could have one common communication structure (Streams, Pipelines, Producers, Parsers, Consumers) without rewriting code. As the thing distinguishing the different protocols was the Header, we decided to template all the communication objects using HeaderT. However, as I recently realized, this destroys the possibility to easily create consumers using the visitor pattern as being done in the ur_modern_driver. With this, there would have to be one root consumer providing abstract methods for all packages available (over all interfaces). By templating the communication layer with the type of the actual package (In terms of RTDEPackage or PrimaryPackage) we can establish a visitor pattern at protocol level.
Merge pull request #141 from isys-vision/robot_status Robot status topic via controller
Merge pull request #2 from fmauch/robot_status set motion_possible to true only of robot can be actually moved
Merge pull request #156 from UniversalRobots/ros_documentation Use section commands for each individual topic/service/parameter url
Added missing doc string in launch file
Only reflect RobotMode::RUNNING in motion_possible
Code formatting
set motion_possible to true only of robot can be actually moved
Merge remote-tracking branch \'origin/robot_status\' into robot_status
Robot status: motion possible depends on error bits instead of robot mode
Updated documentation
Updated comments in source code
removed temporary diff file
Use section commands for each individual topic/service/parameter url
Fix bug overwriting msg_.analog_input2 variable
Remove 2xbringup.launch This launchfile was created for local testing in the past and slipped through.
RTDE handshake verification Throw an exception if the RTDE handshake could not be established correctly.
Fixes controller switches to only act if necessary all control communication was set to false when a switch was called. This is not correct, as we might e.g. only start a reading controller such as the FTS measurements. Second, controllers were never checked for matching joints in this HW interface which is problematic in combined-hw cases.
Merge pull request #132 from UniversalRobots/fix_dependencies Fix package dependencies
Robot status: fixed in_error state Co-Authored-By: Felix Exner <
> Added a comment about controller reset
Reset the controller also when non-blocking read is used I don\'t see a reason why this should not happen there, as well.
Require a controller reset when reading data from RTDE fails Otherwise the joint_state_controller will continue publishing old joint data
Use SPDX license identifiers. (#145) From https://spdx.org
Reduce bitset tests for in_error state
Robot status: in_error considers several error bits
Use scoped enums
Added robot status controller to all configs
Robot status: in_error considers emergency stopped flag
Robot/safety status bits: Replaced comments by enums
Initialize address length for accept() call (#148)
real_time.md improvements (#139) When unzipping the patch file xz -d patch-4.14.139-rt66.patch.xz the xz -d command extracts the file but removes the original compressed file patch-4.14.139-rt66.patch.xz file. In a later step the patch is applied using the xz file xzcat ../patch-4.14.139-rt66.patch.xz | patch -p1. As you can see this command expects the patch-4.14.139-rt66.patch.xz file to be present in the directory. However, the file is not present because of the earlier xz -d command. Adding the -k option to the xz command extracts the file but also leaves the original compressed file in place. When going through the process the process failed (during make oldconfig I think) because flex and bison were not installed. Installing these packages during the apt-get install step allows make oldconfig to execute without failing due to missing packages.
Fix typo in ur3_bringup.launch section (#126) The description for the ur3_bringup.launch section used the term ur5
Adjusted dependencies and formatting
clang formatting
Added robot_status_controller to consistent_controllers fixes problem that no messages are published if robot program is not running
Added robot_status topic via industrial robot status controller
Merge pull request #1 from UniversalRobots/master Update from upstream repo
Fix all dependencies except yaml-cpp
Add missing package dependency (#123)
velocity_interface is now available (#120)
Merge pull request #1 from UniversalRobots/velocity_interface Adds a velocity interface to the driver.
Updated scaled velocity controller for all models
increase stop deceleration Otherwise the robot would move for too long when handing back control in the middle of a motion
join move thread at script end
Added scaled vel traj controller Do it for all robots
Renamed the urscript as it is now general purpose ros_control
Use a longer speedj time to avoid oscillations in the control cycle. Otherwise speed will return to 0 before a new command gets executed.
Cleaned up launch files
-
Send control type from hardware interface TODO:
- Documentation of function members
- Using enums for control modes
added speed controllers to all robots and added ur10e_speed launchfile
add support for speedj
Always go through updateRobotState function in goal callback (#99) When robot is already in the target mode (safety- and robot mode) and the set_mode action is called with requesting to start the program afterwards, the program did not start as the robot already was at the desired state. However, e.g. after a protective stop that is resolved by hand (e.g. when driving into joint limits) users expected to call that action to restart the robot again. With this change, we do the usual check whether to start the program again. This way, this action can always be used to make sure the robot is running with the program correctly.
Merge branch \'pr/86\' \'Adding non blocking read\'
Update ROS_INTERFACE.md
Merge pull request #93 from UniversalRobots/fix_sockets_close Close all closable sockets
Merge branch \'master\' into adding_non_blocking_read
Added a comment about explicitly calling ReverseInterface\'s destructor
Close all closable sockets Sockets do not necessarily have to be in state connected when they should be closed. Before, only connected sockets got closed leading to a \"socket leak\" if a socket was disconnected before a close request was processed. With this fix all sockets with a valid file descriptor get closed when close() is being called.
-
Parameterising gains (#88)
- added parameters for servoj_gain and servoj_lookahead_time
- changing to ros_error_stream
- lint
- added documentation
Merge pull request #6 from fmauch/adding_non_blocking_read Added documentation for non_blocking_read parameter
config: use yaml anchor to reduce magic nrs. (#89) Users can still customise the publish_rate by removing the alias and specifying a custom rate. By default all controllers will publish at the controller\'s native rate.
Added documentation for non_blocking_read parameter
Update hardware_interface.cpp
Update ur_driver.cpp
Update hardware_interface.cpp
lint
lint
add non-blocking-read for combined_robot_hw
Merge pull request #1 from UniversalRobots/master update our master
fixed duplicated service advertisements (#75)
\'reverse_port\' and \'script_sender_port\' parameters (#57) Adds parameters for reverse_port and script_sender_port. This was implemented by \@khssnv Thanks!
Fix spelling of \"actual_main_voltage\"
robot_driver: update tracker and repo urls. Copy-pasta from ur_modern_driver.
Merge pull request #48 from UniversalRobots/tare_sensor Added a service to zero the robot\'s ftsensor
Deny taring the TF sensor when major version is < 5
Added a service to zero the robot\'s ftsensor
Changed my name in every occurence
Fix faulty 1MBaud rate It actually had a 0 too much. We use scientific notation to make this more clearly visible in future.
Merge pull request #49 from UniversalRobots/end_script_command Always end script commands with a newline
Add documentation why we append a newline. Co-Authored-By: G.A. vd. Hoorn <g.a.vanderhoorn@tudelft.nl>
Always end script commands with a newline Otherwise script will not be interpreted by the robot which might be counter-intuitive. Changing the behavior as such will also be the same as in the ur_modern_driver so migrating will be easier. I decided to change the function\'s interface to copy the string in order add a trailing \'n\' if necessary.
Merge pull request #34 from tecnalia-medical-robotics/combined_hw Support for combined robot hardware
Use a spawner to load stopped controllers to avoid confusion about finished nodes Before, we used the controller_manager/controller_manager node to load unstarted controllers, which logged a \"finished cleanly\" after loading the controllers. This led to confusion as actually you don\'t expect something to exit when starting the driver.
Separate ROS related sources from ur_robot_driver library
Avoid same source files to be built and linked in several places
Add Missing dashboard client source file
Minimum changes to add support for combined hardware interface
Updated ROS interface documentation
robot_driver: remove industrial_msgs dependency. It\'s not actually used (yet).
Merge branch \'robot_status\' Propagating the robot\'s status (robot mode and safety mode) to the user so she can act accordingly (e.g. unlock after a protective stop or power on the robot if required)
Updated documentation
Updated documentation regarding the full headless mode
Start robot_state_helper together with driver from launchfile
Do not specify hw-interface\'s namespace explicitly
Added ROS interface documentation for state helper
Added code documentation
Added functionality to automatically restart the running program after recovery
Implemented setMode action to bring the robot into a desired mode (e.g. RUNNING)
Added a separate helper node that will handle robot and safety mode changes
Create a common datatypes.h file for UR enums The enumerators are used through different interfaces which is why I think it is beneficial to pull them out into a separate header file.
Publish robot mode and safety mode from RTDE
Merge pull request #16 from UniversalRobots/dashboard_client Add a dashboard client to the driver
Renaming source files for DashboardClientROS
Removed leftover code fragments
Explicitly delete default constructor of DashboardClient and DashboardClientROS
Added more comments
Added ur_dashbaord_msgs to the dependency list
Updated service documentation
Also publish robot mode
Added the ability to reconnect to the dashboard server
Use a timeout for dashboard server When the timeout is exceeded, a TimoutException is thrown causing the service to fail. All dashboard services return (almost) immediately, so actions do not really make sense here. The only exception is when there is a problem with the dasboard connection, which is why we introduce the timeout. This way, service calls will not block forever, when connection to the dashboard server got lost or if the server isn\'t answering due to any other reason.
Added more dashboard services
Simplify service advertisements For advertising the services I use a combination of a MACRO and a lambda, as suggested by \@gavanderhoorn. I\'m currently not completely happy with this, as I don\'t like using macros, but a \"double\" lambda seemed not to work.
Added documentation to dashboard server
Add a dashboard client to the hardware interface
Moved dashboard functionality completely out of client The client itself should only be an abstraction of the actual interface which is sending strings and receiving strings as answers. All interpretation of those answers is now moved to the ROS module.
Renamed the standalone dashboard server node
return server response to caller
Added first version of dashboard client
Merge pull request #18 from UniversalRobots/fix_init_timing Fix init timing. Before pipeline overflows could happen at startup
When no controller is active, set the current point as setpoint.
Fixed a comment
Merge branch \'formatting\' into fix_init_timing
Merge pull request #21 from UniversalRobots/formatting Formatting
Removed spaces before :: How can I get clang-format-6 to do that? I only managed to get this working using clang-format 3.9
Mark all producer methods as overrides
Corrected typo in log message
Start rtde client specifically
Added more log output on errors
Refactoring of RTDE client initialization
Make pipeline stop- and restartable
pass tcp_port parameter as string
Renamed the driver to ur_robot_driver
Contributors: Alisher A. Khassanov, Axel, Christian J
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| ur_calibration | github-UniversalRobots-Universal_Robots_ROS_Driver |
Launch files
- launch/ur_control.launch
-
- debug [default: false] — If set to true, will start the driver inside gdb
- use_tool_communication — On e-Series robots tool communication can be enabled with this argument
- controller_config_file — Config file used for defining the ROS-Control controllers.
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- kinematics_config — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller force_torque_sensor_controller robot_status_controller]
- stopped_controllers [default: joint_group_vel_controller forward_joint_traj_controller forward_cartesian_traj_controller]
- urscript_file [default: $(find ur_client_library)/resources/external_control.urscript] — Path to URScript that will be sent to the robot and that forms the main control program.
- rtde_output_recipe_file [default: $(find ur_robot_driver)/resources/rtde_output_recipe.txt] — Recipe file used for the RTDE-outputs. Only change this if you know what you're doing.
- rtde_input_recipe_file [default: $(find ur_robot_driver)/resources/rtde_input_recipe.txt] — Recipe file used for the RTDE-inputs. Only change this if you know what you're doing.
- tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
- tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- servoj_gain [default: 2000] — Specify gain for servoing to position in joint space. A higher gain can sharpen the trajectory.
- servoj_lookahead_time [default: 0.03] — Specify lookahead time for servoing to position in joint space. A longer lookahead time can smooth the trajectory.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/ur5_bringup.launch
-
- debug [default: false] — Debug flag that will get passed on to ur_common.launch
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
- stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
- controller_config_file [default: $(find ur_robot_driver)/config/ur5_controllers.yaml] — Config file used for defining the ROS-Control controllers.
- robot_description_file [default: $(find ur_description)/launch/load_ur5.launch] — Robot description launch file.
- kinematics_config [default: $(find ur_description)/config/ur5/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/ur10_bringup.launch
-
- debug [default: false] — Debug flag that will get passed on to ur_common.launch
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
- stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
- controller_config_file [default: $(find ur_robot_driver)/config/ur10_controllers.yaml] — Config file used for defining the ROS-Control controllers.
- robot_description_file [default: $(find ur_description)/launch/load_ur10.launch] — Robot description launch file.
- kinematics_config [default: $(find ur_description)/config/ur10/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/ur3e_bringup.launch
-
- debug [default: false] — Debug flag that will get passed on to ur_common.launch
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
- stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
- controller_config_file [default: $(find ur_robot_driver)/config/ur3e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
- robot_description_file [default: $(find ur_description)/launch/load_ur3e.launch] — Robot description launch file.
- kinematics_config [default: $(find ur_description)/config/ur3e/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
- use_tool_communication [default: false] — On e-Series robots tool communication can be enabled with this argument
- tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
- tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/ur5e_bringup.launch
-
- debug [default: false] — Debug flag that will get passed on to ur_common.launch
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
- stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
- controller_config_file [default: $(find ur_robot_driver)/config/ur5e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
- robot_description_file [default: $(find ur_description)/launch/load_ur5e.launch] — Robot description launch file.
- kinematics_config [default: $(find ur_description)/config/ur5e/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
- use_tool_communication [default: false] — On e-Series robots tool communication can be enabled with this argument
- tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
- tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/ur3_bringup.launch
-
- debug [default: false] — Debug flag that will get passed on to ur_common.launch
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
- stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
- controller_config_file [default: $(find ur_robot_driver)/config/ur3_controllers.yaml] — Config file used for defining the ROS-Control controllers.
- robot_description_file [default: $(find ur_description)/launch/load_ur3.launch] — Robot description launch file.
- kinematics_config [default: $(find ur_description)/config/ur3/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/ur10e_bringup.launch
-
- debug [default: false] — Debug flag that will get passed on to ur_common.launch
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
- stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
- controller_config_file [default: $(find ur_robot_driver)/config/ur10e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
- robot_description_file [default: $(find ur_description)/launch/load_ur10e.launch] — Robot description launch file.
- kinematics_config [default: $(find ur_description)/config/ur10e/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
- use_tool_communication [default: false] — On e-Series robots tool communication can be enabled with this argument
- tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
- tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/ur16e_bringup.launch
-
- debug [default: false] — Debug flag that will get passed on to ur_common.launch
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
- stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
- controller_config_file [default: $(find ur_robot_driver)/config/ur16e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
- robot_description_file [default: $(find ur_description)/launch/load_ur16e.launch] — Robot description launch file.
- kinematics_config [default: $(find ur_description)/config/ur16e/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
- use_tool_communication [default: false] — On e-Series robots tool communication can be enabled with this argument
- tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
- tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/ur_common.launch
-
- debug [default: false] — Debug flag that will get passed on to ur_control.launch
- use_tool_communication — On e-Series robots tool communication can be enabled with this argument
- controller_config_file — Config file used for defining the ROS-Control controllers.
- robot_ip — IP address by which the robot can be reached.
- reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
- reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
- script_sender_port [default: 50002] — The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
- trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
- kinematics_config — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
- tf_prefix [default: ] — tf_prefix used for the robot.
- controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller robot_status_controller] — Controllers that are activated by default.
- stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
- tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
- tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
- tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
- robot_description_file — Robot description launch file.
- headless_mode [default: false] — Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot.
- ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
- launch/example_rviz.launch