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| # Settings for ros_control control loop | ||
| hardware_control_loop: | ||
| loop_hz: &loop_hz 500 | ||
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| # Settings for ros_control hardware interface | ||
| hardware_interface: | ||
| joints: &robot_joints | ||
| - shoulder_pan_joint | ||
| - shoulder_lift_joint | ||
| - elbow_joint | ||
| - wrist_1_joint | ||
| - wrist_2_joint | ||
| - wrist_3_joint | ||
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| # Publish all joint states ---------------------------------- | ||
| joint_state_controller: | ||
| type: joint_state_controller/JointStateController | ||
| publish_rate: *loop_hz | ||
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| # Publish wrench ---------------------------------- | ||
| force_torque_sensor_controller: | ||
| type: force_torque_sensor_controller/ForceTorqueSensorController | ||
| publish_rate: *loop_hz | ||
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| # Publish speed_scaling factor | ||
| speed_scaling_state_controller: | ||
| type: ur_controllers/SpeedScalingStateController | ||
| publish_rate: *loop_hz | ||
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| # Joint Trajectory Controller - position based ------------------------------- | ||
| # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller | ||
| scaled_pos_traj_controller: | ||
| type: position_controllers/ScaledJointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| 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} | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 10 | ||
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| pos_traj_controller: | ||
| type: position_controllers/JointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| 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} | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 10 |
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| <?xml version="1.0"?> | ||
| <launch> | ||
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| <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/> | ||
| <arg name="robot_ip" doc="IP address by which the robot can be reached."/> | ||
| <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/> | ||
| <arg name="script_sender_port" default="50002" doc="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."/> | ||
| <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/> | ||
| <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/> | ||
| <arg name="stopped_controllers" default="pos_traj_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_description)/launch/ur16e_upload.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."/> | ||
| <arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/> | ||
| <arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/> | ||
| <arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/> | ||
| <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="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."/> | ||
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| <include file="$(find ur_robot_driver)/launch/ur_common.launch"> | ||
| <arg name="debug" value="$(arg debug)"/> | ||
| <arg name="use_tool_communication" value="$(arg use_tool_communication)"/> | ||
| <arg name="controller_config_file" value="$(arg controller_config_file)"/> | ||
| <arg name="robot_description_file" value="$(arg robot_description_file)"/> | ||
| <arg name="kinematics_config" value="$(arg kinematics_config)"/> | ||
| <arg name="robot_ip" value="$(arg robot_ip)"/> | ||
| <arg name="reverse_port" value="$(arg reverse_port)"/> | ||
| <arg name="script_sender_port" value="$(arg script_sender_port)"/> | ||
| <arg name="tf_prefix" value="$(arg tf_prefix)"/> | ||
| <arg name="controllers" value="$(arg controllers)"/> | ||
| <arg name="stopped_controllers" value="$(arg stopped_controllers)"/> | ||
| <arg name="headless_mode" value="$(arg headless_mode)"/> | ||
| <arg name="tool_voltage" value="$(arg tool_voltage)"/> | ||
| <arg name="tool_parity" value="$(arg tool_parity)"/> | ||
| <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/> | ||
| <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/> | ||
| <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/> | ||
| <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/> | ||
| <arg name="tool_device_name" value="$(arg tool_device_name)"/> | ||
| <arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/> | ||
| </include> | ||
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| </launch> |