ros2srrc_robots_UR10

ros2srrc_robots/CMakeLists.txt

@@ -42,6 +42,7 @@ install(
 
     ur3
     ur5
+    ur10
     ur10e
     ur16e
 

ros2srrc_robots/ur10/config/controller.yaml

@@ -0,0 +1,32 @@
+controller_manager:
+  ros__parameters:
+
+    update_rate: 250 #Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+        - shoulder_pan_joint
+        - shoulder_lift_joint
+        - elbow_joint
+        - wrist_1_joint
+        - wrist_2_joint
+        - wrist_3_joint
+    command_interfaces:
+      - position
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 250.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.0
+      goal_time: 0.0

ros2srrc_robots/ur10/config/controller_moveit2.yaml

@@ -0,0 +1,27 @@
+controller_names:
+  - joint_trajectory_controller
+  - scaled_joint_trajectory_controller
+
+joint_trajectory_controller:
+  action_ns: follow_joint_trajectory
+  type: FollowJointTrajectory
+  default: true
+  joints:
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+
+scaled_joint_trajectory_controller:
+  action_ns: follow_joint_trajectory
+  type: FollowJointTrajectory
+  default: false
+  joints:
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint

ros2srrc_robots/ur10/config/controller_ur.yaml

@@ -0,0 +1,83 @@
+controller_manager:
+  ros__parameters:
+
+    update_rate: 500 #Hz
+
+    io_and_status_controller:
+      type: ur_controllers/GPIOController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    speed_scaling_state_broadcaster:
+      type: ur_controllers/SpeedScalingStateBroadcaster
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    scaled_joint_trajectory_controller:
+      type: ur_controllers/ScaledJointTrajectoryController
+
+io_and_status_controller:
+  ros__parameters:
+    tf_prefix: ""
+
+speed_scaling_state_broadcaster:
+  ros__parameters:
+    state_publish_rate: 100.0
+    tf_prefix: ""
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.2
+      goal_time: 0.0
+      shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
+      shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
+      elbow_joint: { trajectory: 0.2, goal: 0.1 }
+      wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
+      wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
+      wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+
+scaled_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.2
+      goal_time: 0.0
+      shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
+      shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
+      elbow_joint: { trajectory: 0.2, goal: 0.1 }
+      wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
+      wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
+      wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+    speed_scaling_interface_name: speed_scaling/speed_scaling_factor

ros2srrc_robots/ur10/config/joint_limits.yaml

@@ -0,0 +1,38 @@
+joint_limits:
+  shoulder_pan_joint:
+    has_velocity_limits: true
+    max_velocity: 1.5
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  shoulder_lift_joint:
+    has_velocity_limits: true
+    max_velocity: 1.5
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  elbow_joint:
+    has_velocity_limits: true
+    max_velocity: 1.5
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  wrist_1_joint:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  wrist_2_joint:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  wrist_3_joint:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+
+# VALUES TAKEN FROM: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_moveit_config/config/joint_limits.yaml
+
+# These limits are used by MoveIt and augment/override the definitions in ur_description:
+# While the robot does not inherently have any limits on joint accelerations (only on torques),
+# MoveIt needs them for time parametrization. They were chosen conservatively to work in most use
+# cases. For specific applications, higher values might lead to better execution performance.

ros2srrc_robots/ur10/config/joint_specifications.yaml

@@ -0,0 +1,4 @@
+# ROS 2 Sim-to-Real Robot Control -> ROBOT-JOINT SPECIFICATIONS (Universal Robots UR10)
+Limits:
+  Max: [360.0, 360.0, 180.0, 360.0, 360.0, 360.0]
+  Min: [-360.0, -360.0, -180.0, -360.0, -360.0, -360.0]

ros2srrc_robots/ur10/config/kinematics.yaml

@@ -0,0 +1,5 @@
+ur10_arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3

ros2srrc_robots/ur10/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,9 @@
+cartesian_limits:
+  max_trans_vel: 0.25
+  max_trans_acc: 0.25
+  max_trans_dec: 0.25
+  max_rot_vel: 2.0
+
+# These values have been reduced (to really conservative values) 
+# since the maximum speed in the actual robot controller has been
+# reduced to its 30% for safety purposes.