Skip to content

Commit

Permalink
Add UR30 support (#899)
Browse files Browse the repository at this point in the history
(cherry picked from commit 60f26aa)

# Conflicts:
#	README.md
#	ur_robot_driver/test/test_common.py
  • Loading branch information
fmauch authored and mergify[bot] committed Feb 14, 2024
1 parent 403274a commit 97f75ce
Show file tree
Hide file tree
Showing 7 changed files with 461 additions and 4 deletions.
7 changes: 7 additions & 0 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -128,13 +128,20 @@ that will behave almost exactly like the real robot.
documentation](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html) for
details.

<<<<<<< HEAD
### Install from binary packages
1. [Install ROS2](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). This
branch supports only ROS2 Humble. For other ROS2 versions, please see the respective
branches.
2. Install the driver using
```
sudo apt-get install ros-${ROS_DISTRO}-ur
=======
```bash
# Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30
# Replace the IP address with the IP address of your actual robot / URSim
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
>>>>>>> 60f26aa (Add UR30 support (#899))
```

### Build from source
Expand Down
2 changes: 1 addition & 1 deletion ur_moveit_config/launch/ur_moveit.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -261,7 +261,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"ur_type",
description="Type/series of used UR robot.",
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
)
)
declared_arguments.append(
Expand Down
3 changes: 3 additions & 0 deletions ur_robot_driver/config/ur30_update_rate.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
controller_manager:
ros__parameters:
update_rate: 500 # Hz
4 changes: 2 additions & 2 deletions ur_robot_driver/doc/usage.rst
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ The arguments for launch files can be listed using ``ros2 launch ur_robot_driver
The most relevant arguments are the following:


* ``ur_type`` (\ *mandatory* ) - a type of used UR robot (\ *ur3*\ , *ur3e*\ , *ur5*\ , *ur5e*\ , *ur10*\ , *ur10e*\ , or *ur16e*\ , *ur20*\ ).
* ``ur_type`` (\ *mandatory* ) - a type of used UR robot (\ *ur3*\ , *ur3e*\ , *ur5*\ , *ur5e*\ , *ur10*\ , *ur10e*\ , or *ur16e*\ , *ur20*\ , *ur30*\ ).
* ``robot_ip`` (\ *mandatory* ) - IP address by which the root can be reached.
* ``use_fake_hardware`` (default: *false* ) - use simple hardware emulator from ros2_control.
Useful for testing launch files, descriptions, etc. See explanation below.
Expand Down Expand Up @@ -106,7 +106,7 @@ For details on the Docker image, please see the more detailed guide :ref:`here <
Example Commands for Testing the Driver
---------------------------------------

Allowed UR - Type strings: ``ur3``\ , ``ur3e``\ , ``ur5``\ , ``ur5e``\ , ``ur10``\ , ``ur10e``\ , ``ur16e``\ , ``ur20``.
Allowed UR - Type strings: ``ur3``\ , ``ur3e``\ , ``ur5``\ , ``ur5e``\ , ``ur10``\ , ``ur10e``\ , ``ur16e``\ , ``ur20``, ``ur30``.

1. Start hardware, simulator or mockup
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Expand Down
102 changes: 102 additions & 0 deletions ur_robot_driver/launch/ur30.launch.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,102 @@
# Copyright (c) 2021 PickNik, Inc.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of the {copyright_holder} nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

#
# Author: Denis Stogl

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir


def generate_launch_description():
# Declare arguments
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"robot_ip",
description="IP address by which the robot can be reached.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_mock_hardware",
default_value="false",
description="Start robot with mock hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"mock_sensor_commands",
default_value="false",
description="Enable mock command interfaces for sensors used for simple simulations. \
Used only if 'use_mock_hardware' parameter is true.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="scaled_joint_trajectory_controller",
description="Initially loaded robot controller.",
choices=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
"forward_velocity_controller",
"forward_position_controller",
],
)
)
declared_arguments.append(
DeclareLaunchArgument(
"activate_joint_controller",
default_value="true",
description="Activate loaded joint controller.",
)
)

# Initialize Arguments
robot_ip = LaunchConfiguration("robot_ip")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller")

base_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
launch_arguments={
"ur_type": "ur30",
"robot_ip": robot_ip,
"use_mock_hardware": use_mock_hardware,
"mock_sensor_commands": mock_sensor_commands,
"initial_joint_controller": initial_joint_controller,
"activate_joint_controller": activate_joint_controller,
}.items(),
)

return LaunchDescription(declared_arguments + [base_launch])
2 changes: 1 addition & 1 deletion ur_robot_driver/launch/ur_control.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -386,7 +386,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"ur_type",
description="Type/series of used UR robot.",
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
)
)
declared_arguments.append(
Expand Down
Loading

0 comments on commit 97f75ce

Please sign in to comment.