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Merge branch 'update_documentation' into release
This commit is contained in:
Felix Mauch
34
ur_rtde_driver/doc/features.md
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34
ur_rtde_driver/doc/features.md
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# Feature comparison and roadmap
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| Feature | ur_modern_driver | this_driver |
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| --- | --- | --- |
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| position-based control | yes | yes |
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| scaled position-based control | - | yes |
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| velocity-based control | yes | planned |
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| reporting of tcp wrench | yes | yes |
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| reporting of tcp wrench in tcp link | - | yes |
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| pausing of programs | - | yes |
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| continue trajectories after EM-Stop resume | - | yes |
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| continue trajectories after protective stop | - | yes |
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| panel interaction in between possible | no<sup>1</sup> | yes |
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| get and set IO states | yes | yes |
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| use tool communication on e-series | - | yes |
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| use the driver without a teach pendant necessary | - | planned |
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| support of CB2 robots | yes | - |
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| trajectory extrapolation on robot on missing packages | no<sup>2</sup> | yes |
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| use ROS as drop-in for TP-programs | - | yes |
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| extract calibration from robot | - | yes |
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| send custom script commands to robot | yes | yes |
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| ROS 2 support | ? | (planned)<sup>3</sup> |
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| Reconnect on a disconnected robot | yes | yes |
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<sup>1</sup> Depending on the mode the driver is running the panel won't react or using the panel
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will stop the program without notifying the ROS user.
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<sup>2</sup> In velocity mode this is implicitly given.
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<sup>3</sup> There is no specific plan to do this inside of the first driver development. However,
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it is structured in a way so that a ROS2 driver should be developed as easy as possible by keeping
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as much as possible in a ros-independent library.
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ur_rtde_driver/doc/install_urcap_cb3.md
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ur_rtde_driver/doc/install_urcap_cb3.md
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# Installing a URCap on a CB3 robot
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For using the *ur_rtde_driver* with a real robot you need to install the
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**externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver.
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**Note**: For installing this URCap a minimal PolyScope version of 3.7 is necessary.
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To install it you first have to copy it to the robot's **programs** folder which can be done either
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via scp or using a USB stick.
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On the welcome screen select *Setup Robot* and then *URCaps* to enter the URCaps installation
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screen.
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There, click the little plus sign at the bottom to open the file selector. There you should see
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all urcap files stored inside the robot's programs folder or a plugged USB drive. Select and open
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the **externalcontrol-1.0.urcap** file and click *open*. Your URCaps view should now show the
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**External Control** in the list of active URCaps and a notification to restart the robot. Do that
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now.
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After the reboot you should find the **External Control** URCaps inside the *Installation* section.
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For this select *Program Robot* on the welcome screen, select the *Installation* tab and select
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**External Control** from the list.
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Here you'll have to setup the IP address of the external PC which will be running the ROS driver.
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Note that the robot and the external PC have to be in the same network, ideally in a direct
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connection with each other to minimize network disturbances. The custom port should be left
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untouched for now.
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To use the new URCaps, create a new program and insert the **External Control** program node into
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the program tree
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If you click on the *command* tab again, you'll see the settings entered inside the *Installation*.
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Check that they are correct, then save the program. Your robot is now ready to be used together with
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this driver.
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43
ur_rtde_driver/doc/install_urcap_e_series.md
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ur_rtde_driver/doc/install_urcap_e_series.md
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# Installing a URCap on a s-Series robot
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For using the *ur_rtde_driver* with a real robot you need to install the
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**externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver.
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**Note**: For installing this URCap a minimal PolyScope version of 5.1 is necessary.
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To install it you first have to copy it to the robot's **programs** folder which can be done either
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via scp or using a USB stick.
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On the welcome screen click on the hamburger menu in the top-right corner and select *Settings* to enter the robot's setup. There select *System* and then *URCaps* to enter the URCaps installation screen.
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There, click the little plus sign at the bottom to open the file selector. There you should see
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all urcap files stored inside the robot's programs folder or a plugged USB drive. Select and open
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the **externalcontrol-1.0.urcap** file and click *open*. Your URCaps view should now show the
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**External Control** in the list of active URCaps and a notification to restart the robot. Do that
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now.
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After the reboot you should find the **External Control** URCaps inside the *Installation* section.
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For this select *Program Robot* on the welcome screen, select the *Installation* tab and select
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**External Control** from the list.
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Here you'll have to setup the IP address of the external PC which will be running the ROS driver.
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Note that the robot and the external PC have to be in the same network, ideally in a direct
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connection with each other to minimize network disturbances. The custom port should be left
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untouched for now.
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To use the new URCaps, create a new program and insert the **External Control** program node into
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the program tree
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If you click on the *command* tab again, you'll see the settings entered inside the *Installation*.
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Check that they are correct, then save the program. Your robot is now ready to be used together with
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this driver.
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48
ur_rtde_driver/doc/setup_tool_communication.md
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ur_rtde_driver/doc/setup_tool_communication.md
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# Setting up the tool communication on an e-Series robot
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The Universal Robots e-Series provides an rs485 based interface at the tool flange that can be used
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to attach an rs485-based device to the robot's tcp without the need to wire a separate cable along
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the robot.
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This driver enables forwarding this tool communication interface to an external machine for example
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to start a device's ROS driver on a remote PC.
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This document will guide you through installing the URCap needed for this and setting up your ROS
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launch files to utilize the robot's tool communication.
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## Robot setup
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For setting up the robot, please install the **rs485-1.0.urcap** found in the **resources** folder.
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Installing a URCap is explained in the [setup guide](install_urcap_e_series.md) for the **external-control** URCap.
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After installing the URCap the robot will expose its tool communication device to the network.
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## Setup the ROS side
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In order to use the tool communication in ROS, simply pass the correct parameters to the bringup
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launch files:
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```bash
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$ roslaunch ur_rtde_driver ur<3|5|10>e_bringup.launch \
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use_tool_communication:=true \
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tool_voltage:=24 \ # can be 0, 12 or 24
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tool_parity:=0 \ # 0: none, 1: odd, 2: even
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tool_baud_rate:=115200 \
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tool_stop_bits:=1 \
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tool_rx_idle_chars:=1.5 \
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tool_tx_idle_chars:=3.5 \
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tool_device_name:=/tmp/ttyUR # remember that your user needs to have the rights to write that file handle
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```
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The `tool_device_name` is an arbitrary name for the device file at which the device will be
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accessible in the local file system. Most ROS drivers for rs485 devices accept an argument to
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specify the device file path. With the example above you could run the `rs485_node` from the package
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`imaginary_drivers` using the following command:
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```bash
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$ rosrun imaginary_drivers rs485_node device:=/tmp/ttyUR
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```
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You can basically choose any device name, but your user has to have the correct rights to actually
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create a new file handle inside this directory. Therefore, we didn't use the `/dev` folder in the
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example, as users usually don't have the access rights to create new files there.
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For all the other tool parameters seen above, please refer to the Universal Robots user manual.
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