From 2b45f701749b6652c490fadfada31a22245d8922 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 29 Jan 2020 11:05:07 +0100 Subject: [PATCH 01/10] Use new description package with unified xacro arguments --- ur_robot_driver/launch/ur10_bringup.launch | 3 +-- ur_robot_driver/launch/ur10e_bringup.launch | 5 ++--- ur_robot_driver/launch/ur3_bringup.launch | 3 +-- ur_robot_driver/launch/ur3e_bringup.launch | 5 ++--- ur_robot_driver/launch/ur5_bringup.launch | 3 +-- ur_robot_driver/launch/ur5e_bringup.launch | 5 ++--- ur_robot_driver/launch/ur_common.launch | 4 +--- 7 files changed, 10 insertions(+), 18 deletions(-) diff --git a/ur_robot_driver/launch/ur10_bringup.launch b/ur_robot_driver/launch/ur10_bringup.launch index 8beb7d169..cc95ab602 100644 --- a/ur_robot_driver/launch/ur10_bringup.launch +++ b/ur_robot_driver/launch/ur10_bringup.launch @@ -9,8 +9,7 @@ - - + diff --git a/ur_robot_driver/launch/ur10e_bringup.launch b/ur_robot_driver/launch/ur10e_bringup.launch index 6f6d7976f..7a9edba34 100644 --- a/ur_robot_driver/launch/ur10e_bringup.launch +++ b/ur_robot_driver/launch/ur10e_bringup.launch @@ -9,8 +9,8 @@ - - + + @@ -20,7 +20,6 @@ - diff --git a/ur_robot_driver/launch/ur3_bringup.launch b/ur_robot_driver/launch/ur3_bringup.launch index ca1ba269e..a4877e1df 100644 --- a/ur_robot_driver/launch/ur3_bringup.launch +++ b/ur_robot_driver/launch/ur3_bringup.launch @@ -9,8 +9,7 @@ - - + diff --git a/ur_robot_driver/launch/ur3e_bringup.launch b/ur_robot_driver/launch/ur3e_bringup.launch index c3de8e676..030b94441 100644 --- a/ur_robot_driver/launch/ur3e_bringup.launch +++ b/ur_robot_driver/launch/ur3e_bringup.launch @@ -8,8 +8,8 @@ - - + + @@ -19,7 +19,6 @@ - diff --git a/ur_robot_driver/launch/ur5_bringup.launch b/ur_robot_driver/launch/ur5_bringup.launch index fce8a490a..9d2a93eb2 100644 --- a/ur_robot_driver/launch/ur5_bringup.launch +++ b/ur_robot_driver/launch/ur5_bringup.launch @@ -9,8 +9,7 @@ - - + diff --git a/ur_robot_driver/launch/ur5e_bringup.launch b/ur_robot_driver/launch/ur5e_bringup.launch index d0a36eeb1..665e39ec6 100644 --- a/ur_robot_driver/launch/ur5e_bringup.launch +++ b/ur_robot_driver/launch/ur5e_bringup.launch @@ -8,8 +8,8 @@ - - + + @@ -19,7 +19,6 @@ - diff --git a/ur_robot_driver/launch/ur_common.launch b/ur_robot_driver/launch/ur_common.launch index 54f5ca54f..688e78947 100644 --- a/ur_robot_driver/launch/ur_common.launch +++ b/ur_robot_driver/launch/ur_common.launch @@ -19,13 +19,11 @@ - - - + From a780245553e21ed2905c0720f736839a61357331 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 29 Jan 2020 11:05:17 +0100 Subject: [PATCH 02/10] Added ur16 support --- ur_robot_driver/launch/ur16e_bringup.launch | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/ur_robot_driver/launch/ur16e_bringup.launch b/ur_robot_driver/launch/ur16e_bringup.launch index e7d7eaa65..741701bac 100644 --- a/ur_robot_driver/launch/ur16e_bringup.launch +++ b/ur_robot_driver/launch/ur16e_bringup.launch @@ -9,8 +9,8 @@ - - + + @@ -20,7 +20,6 @@ - From 4743462aedf02dacd0e6331450b7b5542bb0c9dc Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 15 Jun 2020 21:06:09 +0200 Subject: [PATCH 03/10] Adapt to renamed description launchfiles --- ur_robot_driver/doc/ROS_INTERFACE.md | 12 ++++++------ ur_robot_driver/launch/ur10_bringup.launch | 2 +- ur_robot_driver/launch/ur10e_bringup.launch | 2 +- ur_robot_driver/launch/ur16e_bringup.launch | 4 ++-- ur_robot_driver/launch/ur3_bringup.launch | 2 +- ur_robot_driver/launch/ur3e_bringup.launch | 2 +- ur_robot_driver/launch/ur5_bringup.launch | 2 +- ur_robot_driver/launch/ur5e_bringup.launch | 2 +- 8 files changed, 14 insertions(+), 14 deletions(-) diff --git a/ur_robot_driver/doc/ROS_INTERFACE.md b/ur_robot_driver/doc/ROS_INTERFACE.md index 696cbb2ba..90d8e2adb 100644 --- a/ur_robot_driver/doc/ROS_INTERFACE.md +++ b/ur_robot_driver/doc/ROS_INTERFACE.md @@ -38,7 +38,7 @@ 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_e_description)/launch/load_ur3e.launch") Robot description launch file. @@ -132,7 +132,7 @@ 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. @@ -374,7 +374,7 @@ 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. @@ -428,7 +428,7 @@ 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_e_description)/launch/load_ur5e.launch") Robot description launch file. @@ -518,7 +518,7 @@ 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. @@ -572,7 +572,7 @@ 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_e_description)/launch/load_ur10e.launch") Robot description launch file. diff --git a/ur_robot_driver/launch/ur10_bringup.launch b/ur_robot_driver/launch/ur10_bringup.launch index cc95ab602..fd6cb7722 100644 --- a/ur_robot_driver/launch/ur10_bringup.launch +++ b/ur_robot_driver/launch/ur10_bringup.launch @@ -8,7 +8,7 @@ - + diff --git a/ur_robot_driver/launch/ur10e_bringup.launch b/ur_robot_driver/launch/ur10e_bringup.launch index 7a9edba34..3159a02fd 100644 --- a/ur_robot_driver/launch/ur10e_bringup.launch +++ b/ur_robot_driver/launch/ur10e_bringup.launch @@ -9,7 +9,7 @@ - + diff --git a/ur_robot_driver/launch/ur16e_bringup.launch b/ur_robot_driver/launch/ur16e_bringup.launch index 741701bac..782a19667 100644 --- a/ur_robot_driver/launch/ur16e_bringup.launch +++ b/ur_robot_driver/launch/ur16e_bringup.launch @@ -9,8 +9,8 @@ - - + + diff --git a/ur_robot_driver/launch/ur3_bringup.launch b/ur_robot_driver/launch/ur3_bringup.launch index a4877e1df..9b802b729 100644 --- a/ur_robot_driver/launch/ur3_bringup.launch +++ b/ur_robot_driver/launch/ur3_bringup.launch @@ -8,7 +8,7 @@ - + diff --git a/ur_robot_driver/launch/ur3e_bringup.launch b/ur_robot_driver/launch/ur3e_bringup.launch index 030b94441..bd347efcf 100644 --- a/ur_robot_driver/launch/ur3e_bringup.launch +++ b/ur_robot_driver/launch/ur3e_bringup.launch @@ -8,7 +8,7 @@ - + diff --git a/ur_robot_driver/launch/ur5_bringup.launch b/ur_robot_driver/launch/ur5_bringup.launch index 9d2a93eb2..3150fc3fc 100644 --- a/ur_robot_driver/launch/ur5_bringup.launch +++ b/ur_robot_driver/launch/ur5_bringup.launch @@ -8,7 +8,7 @@ - + diff --git a/ur_robot_driver/launch/ur5e_bringup.launch b/ur_robot_driver/launch/ur5e_bringup.launch index 665e39ec6..f003e52e3 100644 --- a/ur_robot_driver/launch/ur5e_bringup.launch +++ b/ur_robot_driver/launch/ur5e_bringup.launch @@ -8,7 +8,7 @@ - + From 5bb94524c66dccc5808b3b93c9d8e45e00eeb5f7 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 15 Jun 2020 21:34:04 +0200 Subject: [PATCH 04/10] Updated default kinematics filename and removed ur_e_description --- ur_robot_driver/doc/ROS_INTERFACE.md | 18 +++++++++--------- ur_robot_driver/package.xml | 1 - 2 files changed, 9 insertions(+), 10 deletions(-) diff --git a/ur_robot_driver/doc/ROS_INTERFACE.md b/ur_robot_driver/doc/ROS_INTERFACE.md index 90d8e2adb..9fcfc7b7f 100644 --- a/ur_robot_driver/doc/ROS_INTERFACE.md +++ b/ur_robot_driver/doc/ROS_INTERFACE.md @@ -26,7 +26,7 @@ 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.yaml") Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. @@ -38,7 +38,7 @@ 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: "$(find ur_e_description)/launch/load_ur3e.launch") +##### robot_description_file (default: "$(find ur_description)/launch/load_ur3e.launch") Robot description launch file. @@ -120,7 +120,7 @@ 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.yaml") Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. @@ -362,7 +362,7 @@ 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.yaml") Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. @@ -416,7 +416,7 @@ 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.yaml") Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. @@ -428,7 +428,7 @@ 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: "$(find ur_e_description)/launch/load_ur5e.launch") +##### robot_description_file (default: "$(find ur_description)/launch/load_ur5e.launch") Robot description launch file. @@ -506,7 +506,7 @@ 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.yaml") Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. @@ -560,7 +560,7 @@ 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.yaml") Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. @@ -572,7 +572,7 @@ 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: "$(find ur_e_description)/launch/load_ur10e.launch") +##### robot_description_file (default: "$(find ur_description)/launch/load_ur10e.launch") Robot description launch file. diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml index c2982acb5..54d2f87f2 100644 --- a/ur_robot_driver/package.xml +++ b/ur_robot_driver/package.xml @@ -49,7 +49,6 @@ robot_state_publisher socat ur_description - ur_e_description velocity_controllers rostest From f58f8e8dd2ef85c03e527f7033dd4cfad6761aac Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 16 Jun 2020 07:42:52 +0200 Subject: [PATCH 05/10] Removed double yaml --- ur_robot_driver/doc/ROS_INTERFACE.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/ur_robot_driver/doc/ROS_INTERFACE.md b/ur_robot_driver/doc/ROS_INTERFACE.md index 9fcfc7b7f..b03771744 100644 --- a/ur_robot_driver/doc/ROS_INTERFACE.md +++ b/ur_robot_driver/doc/ROS_INTERFACE.md @@ -26,7 +26,7 @@ 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: "$(find ur_description)/config/ur3e/default_kinematics.yaml.yaml") +##### kinematics_config (default: "$(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. @@ -120,7 +120,7 @@ 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: "$(find ur_description)/config/ur10/default_kinematics.yaml.yaml") +##### kinematics_config (default: "$(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. @@ -362,7 +362,7 @@ 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: "$(find ur_description)/config/ur5/default_kinematics.yaml.yaml") +##### kinematics_config (default: "$(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. @@ -416,7 +416,7 @@ 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: "$(find ur_description)/config/ur5e/default_kinematics.yaml.yaml") +##### kinematics_config (default: "$(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. @@ -506,7 +506,7 @@ 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: "$(find ur_description)/config/ur3/default_kinematics.yaml.yaml") +##### kinematics_config (default: "$(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. @@ -560,7 +560,7 @@ 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: "$(find ur_description)/config/ur10e/default_kinematics.yaml.yaml") +##### kinematics_config (default: "$(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. From 6fe291b36a0069149b02eeae78d8f42d6456ff16 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 22 Sep 2020 11:55:25 +0200 Subject: [PATCH 06/10] Adapted to changed payload service --- ur_robot_driver/src/hardware_interface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp index 7ad32c88e..a5892e93e 100644 --- a/ur_robot_driver/src/hardware_interface.cpp +++ b/ur_robot_driver/src/hardware_interface.cpp @@ -393,7 +393,7 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw std::stringstream cmd; cmd.imbue(std::locale::classic()); // Make sure, decimal divider is actually '.' cmd << "sec setup():" << std::endl - << " set_payload(" << req.payload << ", [" << req.center_of_gravity.x << ", " << req.center_of_gravity.y + << " set_payload(" << req.mass << ", [" << req.center_of_gravity.x << ", " << req.center_of_gravity.y << ", " << req.center_of_gravity.z << "])" << std::endl << "end"; resp.success = this->ur_driver_->sendScript(cmd.str()); From 4b34e6838c529549c50e54c4fbcb204c57056fae Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 7 Jul 2020 08:25:12 +0200 Subject: [PATCH 07/10] Added note about the kinematics_config file --- ur_robot_driver/doc/ROS_INTERFACE.md | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/ur_robot_driver/doc/ROS_INTERFACE.md b/ur_robot_driver/doc/ROS_INTERFACE.md index b03771744..4e9b6f048 100644 --- a/ur_robot_driver/doc/ROS_INTERFACE.md +++ b/ur_robot_driver/doc/ROS_INTERFACE.md @@ -30,6 +30,9 @@ 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) @@ -124,6 +127,9 @@ 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) @@ -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) @@ -366,6 +378,9 @@ 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) @@ -420,6 +435,9 @@ 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) @@ -510,6 +528,9 @@ 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) @@ -564,6 +585,9 @@ 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) From f5e084a3066dd7f0c4ccc9310aa954f1c893fccd Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 7 Jul 2020 09:06:12 +0200 Subject: [PATCH 08/10] Added a documentation section about adapting the robot_description --- README.md | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/README.md b/README.md index 32efd4a87..1ec55912d 100644 --- a/README.md +++ b/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. From 6192bc3083c3ace51a68bc1a647a1a3ecfb82aeb Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 22 Sep 2020 13:52:30 +0200 Subject: [PATCH 09/10] Use melodic-devel-staging branch in rosinstall file --- .ci.rosinstall | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.ci.rosinstall b/.ci.rosinstall index 8ae4ce431..75116bf2a 100644 --- a/.ci.rosinstall +++ b/.ci.rosinstall @@ -1,4 +1,4 @@ - git: - uri: https://github.com/fmauch/universal_robot.git + uri: https://github.com/ros-industrial/universal_robot.git local-name: universal_robot - version: calibration_devel + version: melodic-devel-staging From e7ee8a8ff918138a814311dac6812d0287cec274 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Sun, 16 May 2021 00:14:11 +0200 Subject: [PATCH 10/10] Install ur_msgs via rosinstall on noetic --- .github/workflows/ci.yml | 8 ++++---- .ci.rosinstall => .melodic.rosinstall | 0 .noetic.rosinstall | 8 ++++++++ 3 files changed, 12 insertions(+), 4 deletions(-) rename .ci.rosinstall => .melodic.rosinstall (100%) create mode 100644 .noetic.rosinstall diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index f3f7b3699..2c9a3d6b4 100644 --- a/.github/workflows/ci.yml +++ b/.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 diff --git a/.ci.rosinstall b/.melodic.rosinstall similarity index 100% rename from .ci.rosinstall rename to .melodic.rosinstall diff --git a/.noetic.rosinstall b/.noetic.rosinstall new file mode 100644 index 000000000..36c3f298a --- /dev/null +++ b/.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