Robot driver

_bringup.launch robot_ip:=192.168.56.101 \ kinematics_config:=$(rospack find ur_calibration)/etc/ur10_example_calibration.yamlIf the parameters in that file don't match the ones reported from the robot, the driver will outputan error during startup, but will remain usable.For more information on the launch file's parameters see its own documentation.Once the robot driver is started, load the previously generated program on therobot panel that will start the External Control program node and execute it. From that moment onthe robot is fully functional. You can make use of the Pause function or even Stop (:stop_button:) theprogram. Simply press the Play button (:arrow_forward:) again and the ROS driver will reconnect.Inside the ROS terminal running the driver you should see the output Robot ready to receive control commands.To control the robot using ROS, use the action server on/scaled_pos_joint_traj_controller/follow_joint_trajectoryUse this with any client interface such as MoveIt! or simply therqt_joint_trajectory_controller gui:rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controllerYou may need to install rqt_joint_trajectory_controller by running:-rqt-joint-trajectory-controller">sudo apt install ros--rqt-joint-trajectory-controllerwhere ROS-DISTRO will be replaced with your version of ROS.For a more elaborate tutorial on how to get started, please see theusage example.Replacing the robot descriptionIn a real-world scenario you will want to replace the robot description with a descriptioncontaining the whole scene where the robot is acting in. For this, all the bringup launchfiles offerthe argument robot_description_file that should point to a launchfile loading the robotdescription.While the load_urXXX.launch files from the ur_descriptionpackage contain a lot of arguments to change the robot model, this driver only forwards thekinematics_config parameter file. For further adaption please create your own load_urXXX.launchfile 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 theur_control.launch launchfile directly after the robot_description has been uploaded to theparameter server.TroubleshootingThis section will cover some previously raised issues.I started everything, but I cannot control the robot.The External Control program node from the URCap is not running on the robot. Make sure to createa program containing this node on the robot and start it. Inside the ROS terminal you should seethe output Robot ready to receive control commands.Note: When interacting with the teach pendant, or

Rosdep update$ rosdep install --from-paths src --ignore-src -y$ catkin_make_isolated$ source devel_isolated/setup.bash">$ source /opt/ros/your_ros_version>/setup.bash$ mkdir -p catkin_ws/src && cd catkin_ws$ git clone src/Universal_Robots_Client_Library$ sudo apt update -qq$ sudo apt install python3-vcstool$ vcs import --input src/Universal_Robots_ROS_Driver/.noetic.rosinstall src$ git clone src/Universal_Robots_ROS_Driver$ rosdep update$ rosdep install --from-paths src --ignore-src -y$ catkin_make_isolated$ source devel_isolated/setup.bashSetting up a UR robot for ur_robot_driverPrepare the robotFor using the ur_robot_driver with a real robot you need to install theexternalcontrol-x.x.x.urcap which can be found here.For installing the necessary URCap and creating a program, please see the individual tutorials onhow to setup a CB3 robot or how to setup an e-Seriesrobot.To setup the tool communication on an e-Series robot, please consider the tool communication setupguide.Prepare the ROS PCFor using the driver make sure it is installed (either by the debian package or built from sourceinside a catkin workspace).Extract calibration informationEach UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To alsomake use of this in ROS, you first have to extract the calibration information from the robot.Though this step is not necessary to control the robot using this driver, it is highly recommendedto do so, as otherwise endeffector positions might be off in the magnitude of centimeters.For this, there exists a helper script: target_filename:="${HOME}/my_robot_calibration.yaml"">$ roslaunch ur_calibration calibration_correction.launch \ robot_ip:= target_filename:="${HOME}/my_robot_calibration.yaml"For the parameter robot_ip insert the IP address on which the ROS pc can reach the robot. Astarget_filename provide an absolute path where the result will be saved to.We recommend keeping calibrations for all robots in your organization in a common package. See thepackage's documentation for details.Quick startOnce the driver is built and the externalcontrol URCap is installed on therobot, you are good to go ahead starting the driver. (Note: We dorecommend, though, to extract your robot'scalibration first.)To actually start the robot driver use one of the existing launch files_bringup.launch robot_ip:=192.168.56.101">$ roslaunch ur_robot_driver _bringup.launch robot_ip:=192.168.56.101where is one of ur3, ur5, ur10, ur3e, ur5e, ur10e, ur16e, ur20, ur30. Note that in this example weload the calibration parameters for the robot "ur10_example".If you calibrated your robot before, pass that calibration to the launch file:_bringup.launch robot_ip:=192.168.56.101 \ kinematics_config:=$(rospack find ur_calibration)/etc/ur10_example_calibration.yaml">$ roslaunch ur_robot_driver

Side. With this, the robot can bepaused, stopped and resumed without restarting the ROS driver.This will in the future also enable the usage of ROS-components as part of a more complex UR-programon the teach pendant. ROS-control of the robot can be quit using a service call to continueprogram execution on the TP.Use the robot's speed-scaling. When speed scaling is active due to safety constraints or thespeed slider is used, this gets correctly handled on the ROS side, as well slowing downtrajectory execution accordingly.Note: Other ros-controllers based on a position interfacecan be used with this driver, but may behave wrong if the speed slider isn't set to 100% or ifspeed scaling slows down the robot. Also, the pausing function can only be used if the defaultscaled trajectory controller is used.ROS-Service-based replacement of most every-day TP-interactions offer using UR robots withoutinteracting with the teach pendant at all, if desired. The robot can be started, stopped and evenrecovery from safety events can be done using ROS service- and action calls. See the driver'sdashboard services and therobot_state_helper node for details.Use on-the-robot interpolation for both Cartesian andjoint-based trajectories. This is extremely helpful if your application cannot meet the real-time requirements of the driver. Special types ofpassthroughcontrollersforward the trajectories directly to the robot, which then takescare of interpolation between the waypoints to achieve best performance.Please see the external feature list for a listing of all features supported by this driver.ContentsThis repository contains the new ur_robot_driver and a couple of helper packages, such as:ur_calibration: Package around extracting and converting a robot's factory calibrationinformation to make it usable by the robot_description.ur_dashboard_msgs: Message definitions used for interacting with the dashboard node.ur_robot_driver: The actual driver package.RequirementsThis driver requires a system setup with ROS. It is recommended to use Ubuntu 20.04 with ROSnoetic.To make sure that robot control isn't affected by system latencies, it is highly recommended to usea real-time kernel with the system. See the real-time setup guideon information how to set this up.Install from binary packagesInstall ROS. This package only supports ROSnoetic. If you want to use a UR robot arm with ROS 2, please see theROS 2 driver.Install

Universal_Robots_ROS_DriverUniversal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains.With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.It is the core value of Universal Robots, to empower people to achieve any goal within automation. The success criteria of this driver release is to follow this vision, by providing the ROS community with an easy to use, stable and powerful driver, that empowers the community to reach their goals in research and automation without struggling with unimportant technical challenges, instability or lacking features.AcknowledgmentThis driver is forked from the ur_modern_driver.Developed in collaboration between: and . Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.More information: rosin-project.euThis project has received funding from the European Union’s Horizon 2020research and innovation programme under grant agreement no. 732287.How to report an issueBefore creating an issue, please have a look at the Troubleshooting section of this document.To create an issue on the Issue Board please use the default template.How to get helpIf you need help using this driver, please see the ROS-category in the UR+ Developer Forum.FeaturesWorks for all CB3 (with software version >= 3.14.3) and e-Series (software >= 5.9.4) robots and uses the RTDE interface for communication, whenever possible.Factory calibration of the robot inside ROS to reach Cartesiantargets precisely.Realtime-enabled communication structure to robustly cope with the 2ms cycle time of thee-Series. To use this, compile and run it on a kernel with the PREEMPT_RT patch enabled. (Seethe Real-time setup guide on how to achieve this)Transparent integration of the teach-pendant. Using the URCaps system, a program is runningon the robot that handles control commands sent from ROS

It. Makes various tweaks to the Self Inspect screen Renames "OS version" entry to "Android version" Renames "WiFi Direct Name" to "WiFi Name" Adds Control Hub OS version, when viewing the report of a Control Hub Hides the airplane mode entry, when viewing the report of a Control Hub Removes check for ZTE Speed Channel Changer Shows firmware version for all Expansion and Control Hubs Reworks network settings portion of Manage page All network settings are now applied with a single click The WiFi Direct channel of phone-based Robot Controllers can now be changed from the Manage page WiFi channels are filtered by band (2.4 vs 5 GHz) and whether they overlap with other channels The current WiFi channel is pre-selected on phone-based Robot Controllers, and Control Hubs running OS 1.1.2 or later. On Control Hubs running OS 1.1.2 or later, you can choose to have the system automatically select a channel on the 5 GHz band Improves OnBotJava New light and dark themes replace the old themes (chaos, github, chrome,...) the new default theme is light and will be used when you first update to this version OnBotJava now has a tabbed editor Read-only offline mode Improves function of "exit" menu item on Robot Controller and Driver Station Now guaranteed to be fully stopped and unloaded from memory Shows a warning message if a LinearOpMode exists prematurely due to failure to monitor for the start condition Improves error message shown when the Driver Station and Robot Controller are incompatible with each other Driver Station OpMode Control Panel now disabled while a Restart Robot is in progress Disables advanced settings related to WiFi direct when the Robot Controller is a Control Hub. Tint phone battery icons on Driver Station when low/critical. Uses names "Control Hub Portal" and "Control Hub" (when appropriate) in new configuration files Improve I2C read performance Very large improvement on Control Hub; up to ~2x faster with small (e.g. 6 byte) reads Not as apparent on Expansion Hubs connected to a phone Update/refresh build infrastructure Update to 'androidx' support library from 'com.android.support:appcompat', which is end-of-life Update targetSdkVersion