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Merge branch 'update_documentation' into release
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Felix Mauch
82
README.md
82
README.md
@@ -74,59 +74,12 @@ For using the *ur_rtde_driver* with a real robot you need to install the
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**Note**: For installing this URCap a minimal PolyScope version of 3.7 or 5.1 (in case of eSeries) is
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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. The installation process is similar for CB3 and eSeries robots and
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will be shown side-to-side in this guide.
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For installing the necessary URCap and creating a program, please see the individual tutorials on
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how to [setup a CB3 robot](ur_rtde_driver/doc/install_urcap_cb3.md) or how to [setup an e-Series
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robot](ur_rtde_driver/doc/install_urcap_e_series.md).
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<tr>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_01_welcome.png" alt="Welcome screen of CB3" style="width: 45%;"/> </td>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_01_welcome.png" alt="Welcome screen of eSeries" style="width: 45%;"/> </td>
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</tr>
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On the welcome screen select *Setup Robot* and then *URCaps* to enter the URCaps installation screen
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(For eSeries click on the hamburger menu in the top-right corner to get to the setup menu). There,
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click the little plus sign at the bottom to open the file selector. There you should see all urcap
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files stored inside the robot's programs folder or a plugged USB drive. Select and open the
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**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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<tr>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_05_urcaps_installed.png" alt="URCaps screen with installed
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urcaps" style="width: 45%;"/> </td>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_05_urcaps_installed.png" alt="URCaps screen with installed
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urcaps" style="width: 45%;"/> </td>
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</tr>
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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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<tr>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_07_installation_excontrol.png" alt="Installation screen of URCaps" style="width: 45%;"/> </td>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_07_installation_excontrol.png" alt="Installation screen of URCaps" style="width: 45%;"/> </td>
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</tr>
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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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<tr>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_10_prog_structure_urcaps.png" alt="Insert the external control node" style="width: 45%;"/> </td>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_10_prog_structure_urcaps.png" alt="Insert the external control node" style="width: 45%;"/> </td>
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</tr>
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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.
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<tr>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_11_program_view_excontrol.png" alt="Program view of external control" style="width: 45%;"/> </td>
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<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_11_program_view_excontrol.png" alt="Program view of external control" style="width: 45%;"/> </td>
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</tr>
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To setup the tool communication on an e-Series robot, please consider the [tool communication setup
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guide](ur_rtde_driver/doc/setup_tool_communication.md).
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### Prepare the ROS PC
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For using the driver make sure it is installed (either by the debian package or built from source
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@@ -178,15 +131,24 @@ To create a new package, go to your catkin_workspace's src folder and call
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It is recommended to adapt the new package's *package.xml* with a meaningful description.
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#### Start the robot driver
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#### Quick start
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Once the driver is built and the **externalcontrol** URCap is installed on the robot, you are good
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to go ahead starting the driver. (**Note**: We do recommend, though, to calibrate your robot first.)
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To actually start the robot driver use one of the existing launchfiles
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$ roslaunch ur_rtde_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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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:
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$ roslaunch ur_rtde_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101 \
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kinematics_config:=$(rospack find ur_calibration)/etc/ur10_example_calibration.yaml
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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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load the calibration parameters for the robot "ur10_example". If the parameters in that file don't
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match the ones reported from the robot, the driver will output an error during startup.
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If the parameters in that file don't match the ones reported from the robot, the driver will output
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an error during startup, but will remain usable.
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For more information on the launchfile's parameters see its own documentation.
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@@ -195,16 +157,14 @@ execute it. From that moment on the robot is fully functional. You can make use
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function or even stop the program. Simply press the play button again and the ROS driver will
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reconnect.
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#### Use the action server
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After starting up the robot as described in the last section a scaled position based trajectory
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controller is started. It's action-server is located at
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To control the robot using ROS, use the action server on
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```bash
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/scaled_pos_traj_controller/follow_joint_trajectory
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```
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Use this with any client interface such as MoveIt! or simply the joint_trajectory_controller rqt
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gui:
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Use this with any client interface such as [MoveIt!](https://moveit.ros.org/) or simply the
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`rqt_joint_trajectory_controller` gui:
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```
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rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
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34
ur_rtde_driver/doc/features.md
Normal file
34
ur_rtde_driver/doc/features.md
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@@ -0,0 +1,34 @@
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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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44
ur_rtde_driver/doc/install_urcap_cb3.md
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44
ur_rtde_driver/doc/install_urcap_cb3.md
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@@ -0,0 +1,44 @@
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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
Normal file
43
ur_rtde_driver/doc/install_urcap_e_series.md
Normal file
@@ -0,0 +1,43 @@
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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
Normal file
48
ur_rtde_driver/doc/setup_tool_communication.md
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@@ -0,0 +1,48 @@
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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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