Add UR30 support (backport #899) (#930)

* Add UR30 support (#899)

---------
Co-authored-by: Felix Exner (fexner) <[email protected]>
Co-authored-by: Vincenzo Di Pentima <[email protected]>

ur_moveit_config/launch/ur_moveit.launch.py

@@ -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(

ur_robot_driver/config/ur30_update_rate.yaml

@@ -0,0 +1,3 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 500  # Hz

ur_robot_driver/doc/usage.rst

@@ -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.
@@ -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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

ur_robot_driver/launch/ur30.launch.py

@@ -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_fake_hardware",
+            default_value="false",
+            description="Start robot with fake hardware mirroring command to its states.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "fake_sensor_commands",
+            default_value="false",
+            description="Enable fake command interfaces for sensors used for simple simulations. \
+            Used only if 'use_fake_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_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    fake_sensor_commands = LaunchConfiguration("fake_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_fake_hardware": use_fake_hardware,
+            "fake_sensor_commands": fake_sensor_commands,
+            "initial_joint_controller": initial_joint_controller,
+            "activate_joint_controller": activate_joint_controller,
+        }.items(),
+    )
+
+    return LaunchDescription(declared_arguments + [base_launch])

ur_robot_driver/launch/ur_control.launch.py

@@ -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(