From 9e83413ae354dc7598f456dd00ed251129ad07c8 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 8 Apr 2024 09:04:30 +0200 Subject: [PATCH] Add UR30 support (backport #899) (#930) * Add UR30 support (#899) --------- Co-authored-by: Felix Exner (fexner) Co-authored-by: Vincenzo Di Pentima --- ur_moveit_config/launch/ur_moveit.launch.py | 2 +- ur_robot_driver/config/ur30_update_rate.yaml | 3 + ur_robot_driver/doc/usage.rst | 4 +- ur_robot_driver/launch/ur30.launch.py | 102 +++++++++++++++++++ ur_robot_driver/launch/ur_control.launch.py | 2 +- 5 files changed, 109 insertions(+), 4 deletions(-) create mode 100644 ur_robot_driver/config/ur30_update_rate.yaml create mode 100644 ur_robot_driver/launch/ur30.launch.py diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py index 10e752db3..6b67fe9e6 100644 --- a/ur_moveit_config/launch/ur_moveit.launch.py +++ b/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( diff --git a/ur_robot_driver/config/ur30_update_rate.yaml b/ur_robot_driver/config/ur30_update_rate.yaml new file mode 100644 index 000000000..66ef3d736 --- /dev/null +++ b/ur_robot_driver/config/ur30_update_rate.yaml @@ -0,0 +1,3 @@ +controller_manager: + ros__parameters: + update_rate: 500 # Hz diff --git a/ur_robot_driver/doc/usage.rst b/ur_robot_driver/doc/usage.rst index 7a7d9a7fd..014c0fd23 100644 --- a/ur_robot_driver/doc/usage.rst +++ b/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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/ur_robot_driver/launch/ur30.launch.py b/ur_robot_driver/launch/ur30.launch.py new file mode 100644 index 000000000..7556c85b9 --- /dev/null +++ b/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]) diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py index c7d572f56..f7396a602 100644 --- a/ur_robot_driver/launch/ur_control.launch.py +++ b/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(