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Merge pull request UniversalRobots#270 from UniversalRobots/ur16e
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‎README.md

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# Universal_Robots_ROS_Driver
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Universal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains.
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<center><img src="ur_robot_driver/doc/initial_setup_images/e-Series.png" alt="Universal Robot e-Series family" style="width: 45%;"/></center>
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<center><img src="ur_robot_driver/doc/initial_setup_images/e-Series.jpg" alt="Universal Robot e-Series family" style="width: 80%;"/></center>
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With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.
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a real-time kernel with the system. See the [real-time setup guide](ur_robot_driver/doc/real_time.md)
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on information how to set this up.
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## Preliminary UR16e support
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This driver supports all UR variants including the UR16e. However, upstream support for the UR16e is
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not finished, yet. When using the UR16e there is currently no support for gazebo or MoveIt!.
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See [#97](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/97) for details on
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using the latest upstream develop branch of
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[ros_industrial/universal_robot](https://github.com/ros-industrial/universal_robot) which includes
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gazebo support for the ur16e, but no working MoveIt! support at the time of writing.
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## Building
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```bash
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$ roslaunch ur_robot_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101
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where **<robot_type>** is one of *ur3, ur5, ur10, ur3e, ur5e, ur10e*. Note that in this example we
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where **<robot_type>** is one of *ur3, ur5, ur10, ur3e, ur5e, ur10e, ur16e*. Note that in this example we
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load the calibration parameters for the robot "ur10_example".
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If you calibrated your robot before, pass that calibration to the launch file:

‎ur_robot_driver/config/ur16e_controllers.yaml

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# Settings for ros_control control loop
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hardware_control_loop:
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loop_hz: &loop_hz 500
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# Settings for ros_control hardware interface
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ur_hardware_interface:
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joints: &robot_joints
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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# Publish all joint states ----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: *loop_hz
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# Publish wrench ----------------------------------
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force_torque_sensor_controller:
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type: force_torque_sensor_controller/ForceTorqueSensorController
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publish_rate: *loop_hz
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# Publish speed_scaling factor
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speed_scaling_state_controller:
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type: ur_controllers/SpeedScalingStateController
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publish_rate: *loop_hz
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# Joint Trajectory Controller - position based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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scaled_pos_joint_traj_controller:
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type: position_controllers/ScaledJointTrajectoryController
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joints: *robot_joints
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
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elbow_joint: {trajectory: 0.2, goal: 0.1}
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wrist_1_joint: {trajectory: 0.2, goal: 0.1}
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wrist_2_joint: {trajectory: 0.2, goal: 0.1}
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wrist_3_joint: {trajectory: 0.2, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: *loop_hz
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action_monitor_rate: 20
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pos_joint_traj_controller:
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type: position_controllers/JointTrajectoryController
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joints: *robot_joints
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
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elbow_joint: {trajectory: 0.2, goal: 0.1}
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wrist_1_joint: {trajectory: 0.2, goal: 0.1}
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wrist_2_joint: {trajectory: 0.2, goal: 0.1}
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wrist_3_joint: {trajectory: 0.2, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: *loop_hz
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action_monitor_rate: 20
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scaled_vel_joint_traj_controller:
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type: velocity_controllers/ScaledJointTrajectoryController
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joints: *robot_joints
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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gains:
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#!!These values have not been optimized!!
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shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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# Use a feedforward term to reduce the size of PID gains
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velocity_ff:
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shoulder_pan_joint: 1.0
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shoulder_lift_joint: 1.0
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elbow_joint: 1.0
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wrist_1_joint: 1.0
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wrist_2_joint: 1.0
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wrist_3_joint: 1.0
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stop_trajectory_duration: 0.5
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state_publish_rate: *loop_hz
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action_monitor_rate: 20
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vel_joint_traj_controller:
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type: velocity_controllers/JointTrajectoryController
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joints: *robot_joints
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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gains:
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#!!These values have not been optimized!!
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shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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# Use a feedforward term to reduce the size of PID gains
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velocity_ff:
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shoulder_pan_joint: 1.0
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shoulder_lift_joint: 1.0
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elbow_joint: 1.0
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wrist_1_joint: 1.0
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wrist_2_joint: 1.0
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wrist_3_joint: 1.0
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stop_trajectory_duration: 0.5
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state_publish_rate: *loop_hz
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action_monitor_rate: 20
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# Pass an array of joint velocities directly to the joints
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joint_group_vel_controller:
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type: velocity_controllers/JointGroupVelocityController
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joints: *robot_joints
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robot_status_controller:
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type: industrial_robot_status_controller/IndustrialRobotStatusController
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handle_name: industrial_robot_status_handle
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publish_rate: 10

‎ur_robot_driver/doc/initial_setup_images/e-Series.jpg

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‎ur_robot_driver/doc/initial_setup_images/e-Series.png

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‎ur_robot_driver/launch/ur16e_bringup.launch

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<?xml version="1.0"?>
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<launch>
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<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
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<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
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<arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
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<arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
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<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
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<arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
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<arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
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<arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
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<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur16e_upload.launch" doc="Robot description launch file."/>
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<arg name="kinematics_config" default="$(find ur_e_description)/config/ur16e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
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<arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
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<arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
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<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
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<arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
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<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
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</launch>

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