Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add UR30 support #899

Merged
merged 3 commits into from
Dec 22, 2023
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion README.md
Original file line number Diff line number Diff line change
Expand Up @@ -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
```
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 @@ -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(
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_mock_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
2 changes: 1 addition & 1 deletion ur_robot_driver/test/test_common.py
Original file line number Diff line number Diff line change
Expand Up @@ -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"],
)
)

Expand Down
Loading