Merge pull request #97 from fmauch/description_dev

Use new ur_description_model

.github/workflows/ci.yml

@@ -21,25 +21,25 @@ jobs:
         env:
           - ROS_DISTRO: melodic
             ROS_REPO: main
-            UPSTREAM_WORKSPACE: .ci.rosinstall
+            UPSTREAM_WORKSPACE: .melodic.rosinstall
             DOCKER_RUN_OPTS: --network static_test_net
             BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
             IMMEDIATE_TEST_OUTPUT: true
           - ROS_DISTRO: noetic
             ROS_REPO: main
-            UPSTREAM_WORKSPACE: .ci.rosinstall
+            UPSTREAM_WORKSPACE: .noetic.rosinstall
             DOCKER_RUN_OPTS: --network static_test_net
             BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
             IMMEDIATE_TEST_OUTPUT: true
           - ROS_DISTRO: melodic
             ROS_REPO: testing
-            UPSTREAM_WORKSPACE: .ci.rosinstall
+            UPSTREAM_WORKSPACE: .melodic.rosinstall
             DOCKER_RUN_OPTS: --network static_test_net
             BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
             IMMEDIATE_TEST_OUTPUT: true
           - ROS_DISTRO: noetic
             ROS_REPO: testing
-            UPSTREAM_WORKSPACE: .ci.rosinstall
+            UPSTREAM_WORKSPACE: .noetic.rosinstall
             DOCKER_RUN_OPTS: --network static_test_net
             BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
             IMMEDIATE_TEST_OUTPUT: true

.melodic.rosinstall

@@ -0,0 +1,4 @@
+- git:
+    uri: https://github.com/ros-industrial/universal_robot.git
+    local-name: universal_robot
+    version: melodic-devel-staging

.noetic.rosinstall

@@ -0,0 +1,8 @@
+- git:
+    uri: https://github.com/ros-industrial/universal_robot.git
+    local-name: universal_robot
+    version: melodic-devel-staging
+- git:
+    uri: https://github.com/ros-industrial/ur_msgs.git
+    local-name: ur_msgs
+    version: melodic-devel

README.md

@@ -247,6 +247,22 @@ Use this with any client interface such as [MoveIt!](https://moveit.ros.org/) or
 rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
 ```
 
+### Replacing the robot description
+
+In a real-world scenario you will want to replace the robot description with a description
+containing the whole scene where the robot is acting in. For this, all the bringup launchfiles offer
+the argument `robot_description_file` that should point to a launchfile loading the robot
+description.
+
+While the `load_urXXX.launch` files from the [ur_description](http://wiki.ros.org/ur_description)
+package contain a lot of arguments to change the robot model, this driver only forwards the
+`kinematics_config` parameter file. For further adaption please create your own `load_urXXX.launch`
+file that fits your application and pass this to the `urXXX_bringup.launch` files from this package.
+
+If you prefer decoupling loading the robot description and starting the driver, you can start the
+`ur_control.launch` launchfile directly after the `robot_description` has been uploaded to the
+parameter server.
+
 ## Troubleshooting
 
 This section will cover some previously raised issues.

ur_robot_driver/doc/ROS_INTERFACE.md

@@ -26,10 +26,13 @@ Debug flag that will get passed on to ur_common.launch
 
 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.
 
-##### kinematics_config (default: "$(find ur_e_description)/config/ur3e_default.yaml")
+##### kinematics_config (default: "$(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.
 
+**Note:** The `default_kinematics.yaml` file will not reflect the kinematic parameters of your
+robot. Make sure to [generate your own config file](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information).
+
 ##### limited (default: "false")
 
 Use the description in limited mode (Every axis rotates from -PI to PI)
@@ -38,7 +41,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_e_description)/launch/ur3e_upload.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur3e.launch")
 
 Robot description launch file.
 
@@ -120,10 +123,13 @@ Debug flag that will get passed on to ur_common.launch
 
 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.
 
-##### kinematics_config (default: "$(find ur_description)/config/ur10_default.yaml")
+##### kinematics_config (default: "$(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.
 
+**Note:** The `default_kinematics.yaml` file will not reflect the kinematic parameters of your
+robot. Make sure to [generate your own config file](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information).
+
 ##### limited (default: "false")
 
 Use the description in limited mode (Every axis rotates from -PI to PI)
@@ -132,7 +138,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_description)/launch/ur10_upload.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur10.launch")
 
 Robot description launch file.
 
@@ -178,6 +184,9 @@ Automatically send URScript to robot to execute. On e-Series this does require t
 
 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.
 
+**Note:** The `default_kinematics.yaml` file will not reflect the kinematic parameters of your
+robot. Make sure to [generate your own config file](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information).
+
 ##### launch_prefix (Required)
 
 Please add description. See file "launch/ur_control.launch".
@@ -276,6 +285,9 @@ Automatically send URScript to robot to execute. On e-Series this does require t
 
 Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
 
+**Note:** The `default_kinematics.yaml` file will not reflect the kinematic parameters of your
+robot. Make sure to [generate your own config file](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information).
+
 ##### limited (default: "false")
 
 Use the description in limited mode (Every axis rotates from -PI to PI)
@@ -362,10 +374,13 @@ Debug flag that will get passed on to ur_common.launch
 
 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.
 
-##### kinematics_config (default: "$(find ur_description)/config/ur5_default.yaml")
+##### kinematics_config (default: "$(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.
 
+**Note:** The `default_kinematics.yaml` file will not reflect the kinematic parameters of your
+robot. Make sure to [generate your own config file](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information).
+
 ##### limited (default: "false")
 
 Use the description in limited mode (Every axis rotates from -PI to PI)
@@ -374,7 +389,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_description)/launch/ur5_upload.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur5.launch")
 
 Robot description launch file.
 
@@ -416,10 +431,13 @@ Debug flag that will get passed on to ur_common.launch
 
 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.
 
-##### kinematics_config (default: "$(find ur_e_description)/config/ur5e_default.yaml")
+##### kinematics_config (default: "$(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.
 
+**Note:** The `default_kinematics.yaml` file will not reflect the kinematic parameters of your
+robot. Make sure to [generate your own config file](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information).
+
 ##### limited (default: "false")
 
 Use the description in limited mode (Every axis rotates from -PI to PI)
@@ -428,7 +446,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_e_description)/launch/ur5e_upload.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur5e.launch")
 
 Robot description launch file.
 
@@ -506,10 +524,13 @@ Debug flag that will get passed on to ur_common.launch
 
 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.
 
-##### kinematics_config (default: "$(find ur_description)/config/ur3_default.yaml")
+##### kinematics_config (default: "$(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.
 
+**Note:** The `default_kinematics.yaml` file will not reflect the kinematic parameters of your
+robot. Make sure to [generate your own config file](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information).
+
 ##### limited (default: "false")
 
 Use the description in limited mode (Every axis rotates from -PI to PI)
@@ -518,7 +539,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_description)/launch/ur3_upload.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur3.launch")
 
 Robot description launch file.
 
@@ -560,10 +581,13 @@ Debug flag that will get passed on to ur_common.launch
 
 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.
 
-##### kinematics_config (default: "$(find ur_e_description)/config/ur10e_default.yaml")
+##### kinematics_config (default: "$(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.
 
+**Note:** The `default_kinematics.yaml` file will not reflect the kinematic parameters of your
+robot. Make sure to [generate your own config file](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information).
+
 ##### limited (default: "false")
 
 Use the description in limited mode (Every axis rotates from -PI to PI)
@@ -572,7 +596,7 @@ Use the description in limited mode (Every axis rotates from -PI to PI)
 
 Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
 
-##### robot_description_file (default: "$(find ur_e_description)/launch/ur10e_upload.launch")
+##### robot_description_file (default: "$(find ur_description)/launch/load_ur10e.launch")
 
 Robot description launch file.
 

ur_robot_driver/launch/ur10_bringup.launch

@@ -8,9 +8,8 @@
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch" doc="Robot description launch file."/>
-  <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
-  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/load_ur10.launch" doc="Robot description launch file."/>
+  <arg name="kinematics_config" default="$(find ur_description)/config/ur10/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="headless_mode" default="false" doc="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."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">

ur_robot_driver/launch/ur10e_bringup.launch

@@ -9,8 +9,8 @@
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch" doc="Robot description launch file."/>
-  <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/load_ur10e.launch" doc="Robot description launch file."/>
+  <arg name="kinematics_config" default="$(find ur_description)/config/ur10e/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
   <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
@@ -20,7 +20,6 @@
   <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
-  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
   <arg name="headless_mode" default="false" doc="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."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>

ur_robot_driver/launch/ur16e_bringup.launch

@@ -9,8 +9,8 @@
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
-  <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur16e_upload.launch" doc="Robot description launch file."/>
-  <arg name="kinematics_config" default="$(find ur_e_description)/config/ur16e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/load_ur16e.launch" doc="Robot description launch file."/>
+  <arg name="kinematics_config" default="$(find ur_description)/config/ur16e/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
   <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
@@ -20,7 +20,6 @@
   <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
-  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
   <arg name="headless_mode" default="false" doc="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."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>