From e737744a1966e26516dfadab274889ef16bd703b Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 22 Dec 2023 12:21:39 +0000 Subject: [PATCH 1/3] Add UR30 to Moveit types --- ur_moveit_config/launch/ur_moveit.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py index af8b0d8c5..cd7436054 100644 --- a/ur_moveit_config/launch/ur_moveit.launch.py +++ b/ur_moveit_config/launch/ur_moveit.launch.py @@ -263,7 +263,7 @@ 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( From e2bff501a7a836d482a88d507600b8228235c59d Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 22 Dec 2023 12:29:51 +0000 Subject: [PATCH 2/3] Add everything needed for the UR30 --- README.md | 2 +- .../config/test_goal_publishers_config.yaml | 4 +- 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 +- ur_robot_driver/test/test_common.py | 2 +- 7 files changed, 112 insertions(+), 7 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/README.md b/README.md index cfbfd7579..d24d01bca 100644 --- a/README.md +++ b/README.md @@ -118,7 +118,7 @@ For getting started, you'll basically need three steps: details. ```bash - # Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 + # 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 ``` diff --git a/ur_robot_driver/config/test_goal_publishers_config.yaml b/ur_robot_driver/config/test_goal_publishers_config.yaml index 79388fcd6..2a9822fda 100644 --- a/ur_robot_driver/config/test_goal_publishers_config.yaml +++ b/ur_robot_driver/config/test_goal_publishers_config.yaml @@ -22,7 +22,7 @@ publisher_scaled_joint_trajectory_controller: - wrist_2_joint - wrist_3_joint - check_starting_point: true + check_starting_point: false starting_point_limits: shoulder_pan_joint: [-0.1,0.1] shoulder_lift_joint: [-1.6,-1.5] @@ -55,7 +55,7 @@ publisher_joint_trajectory_controller: - wrist_2_joint - wrist_3_joint - check_starting_point: true + check_starting_point: false starting_point_limits: shoulder_pan_joint: [-0.1,0.1] shoulder_lift_joint: [-1.6,-1.5] 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 039ab305a..1a3acd329 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_mock_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..2ac76eb65 --- /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_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]) diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py index 0402484d4..18ad4afa1 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( diff --git a/ur_robot_driver/test/test_common.py b/ur_robot_driver/test/test_common.py index b8d7c08b1..5b6033cea 100644 --- a/ur_robot_driver/test/test_common.py +++ b/ur_robot_driver/test/test_common.py @@ -253,7 +253,7 @@ def _declare_launch_arguments(): "ur_type", default_value="ur5e", 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"], ) ) From 880687d8bbb1debfebc6eff38e58fc1afcd6794a Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 22 Dec 2023 13:07:14 +0000 Subject: [PATCH 3/3] Fix check_starting_point change That should not be here --- ur_robot_driver/config/test_goal_publishers_config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_robot_driver/config/test_goal_publishers_config.yaml b/ur_robot_driver/config/test_goal_publishers_config.yaml index 2a9822fda..79388fcd6 100644 --- a/ur_robot_driver/config/test_goal_publishers_config.yaml +++ b/ur_robot_driver/config/test_goal_publishers_config.yaml @@ -22,7 +22,7 @@ publisher_scaled_joint_trajectory_controller: - wrist_2_joint - wrist_3_joint - check_starting_point: false + check_starting_point: true starting_point_limits: shoulder_pan_joint: [-0.1,0.1] shoulder_lift_joint: [-1.6,-1.5] @@ -55,7 +55,7 @@ publisher_joint_trajectory_controller: - wrist_2_joint - wrist_3_joint - check_starting_point: false + check_starting_point: true starting_point_limits: shoulder_pan_joint: [-0.1,0.1] shoulder_lift_joint: [-1.6,-1.5]