From f880ca91ba8efd57d24fbb3ada7318a06bea654c Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 29 Jan 2020 11:05:17 +0100
Subject: [PATCH] Added ur16 support

---
 ur_robot_driver/config/ur16e_controllers.yaml | 62 +++++++++++++++++++
 ur_robot_driver/launch/ur16e_bringup.launch   | 48 ++++++++++++++
 2 files changed, 110 insertions(+)
 create mode 100644 ur_robot_driver/config/ur16e_controllers.yaml
 create mode 100644 ur_robot_driver/launch/ur16e_bringup.launch

diff --git a/ur_robot_driver/config/ur16e_controllers.yaml b/ur_robot_driver/config/ur16e_controllers.yaml
new file mode 100644
index 000000000..a1665d5cf
--- /dev/null
+++ b/ur_robot_driver/config/ur16e_controllers.yaml
@@ -0,0 +1,62 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: &loop_hz 500
+
+# 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
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: *loop_hz
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: *loop_hz
+
+# Publish speed_scaling factor
+speed_scaling_state_controller:
+   type:         ur_controllers/SpeedScalingStateController
+   publish_rate: *loop_hz
+
+# 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
+
+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
diff --git a/ur_robot_driver/launch/ur16e_bringup.launch b/ur_robot_driver/launch/ur16e_bringup.launch
new file mode 100644
index 000000000..3d5949bd9
--- /dev/null
+++ b/ur_robot_driver/launch/ur16e_bringup.launch
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<launch>
+
+  <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="$(find ur_description)/config/ur16e/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
+  <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
+  <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+
+  <include file="$(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>
+
+</launch>