Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

split common and control

Browse Source
This commit is contained in:
Felix Mauch
2019-06-14 10:31:52 +02:00
parent ca3e127f21
commit 34eb8dcf08
3 changed files with 93 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
ur_rtde_driver/launch/ur10e_ros_control.launch
View File

@@ -3,20 +3,16 @@
<!-- GDB functionality --> <!-- GDB functionality -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="use_tool_communication" default="true"/> <arg name="use_tool_communication" default="true"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/> <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/> <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
<arg name="robot_ip"/> <arg name="robot_ip"/>
<!--<arg name="reverse_port" default="50001"/>-->
<arg name="limited" default="false"/> <arg name="limited" default="false"/>
<arg name="prefix" default="" /> <arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/> <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<!--<arg name="stopped_controllers" default=""/>--> <arg name="stopped_controllers" default=""/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="tool_voltage" default="12"/> <arg name="tool_voltage" default="12"/>
<arg name="tool_parity" default="0"/> <arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/> <arg name="tool_baud_rate" default="115200"/>
@@ -31,12 +27,11 @@
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/> <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
<arg name="controller_config_file" value="$(arg controller_config_file)"/> <arg name="controller_config_file" value="$(arg controller_config_file)"/>
<arg name="robot_description_file" value="$(arg robot_description_file)"/> <arg name="robot_description_file" value="$(arg robot_description_file)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
<arg name="prefix" value="$(arg prefix)"/> <arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/> <arg name="controllers" value="$(arg controllers)"/>
<arg name="urscript_file" value="$(arg urscript_file)"/>
<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
<arg name="tool_voltage" value="$(arg tool_voltage)"/> <arg name="tool_voltage" value="$(arg tool_voltage)"/>
<arg name="tool_parity" value="$(arg tool_parity)"/> <arg name="tool_parity" value="$(arg tool_parity)"/>
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/> <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>

70
ur_rtde_driver/launch/ur_common.launch
View File

@@ -1,22 +1,15 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<launch> <launch>
<!-- GDB functionality -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="use_tool_communication"/> <arg name="use_tool_communication"/>
<arg name="controller_config_file"/> <arg name="controller_config_file"/>
<arg name="robot_description_file"/> <arg name="robot_description_file"/>
<arg name="kinematics_config"/>
<arg name="robot_ip"/> <arg name="robot_ip"/>
<!--<arg name="reverse_port" default="50001"/>-->
<arg name="limited" default="false"/> <arg name="limited" default="false"/>
<arg name="prefix" default="" /> <arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/> <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<!--<arg name="stopped_controllers" default=""/>--> <arg name="stopped_controllers" default=""/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="tool_voltage" default="12"/> <arg name="tool_voltage" default="12"/>
<arg name="tool_parity" default="0"/> <arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/> <arg name="tool_baud_rate" default="115200"/>
@@ -29,51 +22,24 @@
<!-- robot model --> <!-- robot model -->
<include file="$(arg robot_description_file)"> <include file="$(arg robot_description_file)">
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
</include> </include>
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
<param name="script_file" value="$(arg urscript_file)"/>
<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
<param name="tool_voltage" value="$(arg tool_voltage)"/>
<param name="tool_parity" value="$(arg tool_parity)"/>
<param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
<param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
</node>
<node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_rtde_driver" type="tool_communication" respawn="false" output="screen">
<param name="robot_ip" value="$(arg robot_ip)"/>
<param name="device_name" value="$(arg tool_device_name)"/>
<param name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
</node>
<!-- Load controller settings -->
<rosparam file="$(arg controller_config_file)" command="load"/>
<!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="$(arg controllers)" />
<!-- load other controller -->
<!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
<!--output="screen" args="load $(arg stopped_controllers)" />-->
<!-- Convert joint states to /tf tranforms --> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen"> <include file="$(find ur_rtde_driver)/launch/ur_control.launch">
<remap from="robot_running" to="ur_hardware_interface/robot_program_running"/> <arg name="debug" value="$(arg debug)"/>
<rosparam param="consistent_controllers"> <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
- "joint_state_controller" <arg name="controller_config_file" value="$(arg controller_config_file)"/>
- "speed_scaling_state_controller" <arg name="robot_ip" value="$(arg robot_ip)"/>
- "force_torque_sensor_controller" <arg name="tf_prefix" value="$(arg tf_prefix)"/>
</rosparam> <arg name="controllers" value="$(arg controllers)"/>
</node> <arg name="tool_voltage" value="$(arg tool_voltage)"/>
<arg name="tool_parity" value="$(arg tool_parity)"/>
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
</include>
</launch> </launch>

70
ur_rtde_driver/launch/ur_control.launch Normal file
View File

@@ -0,0 +1,70 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="use_tool_communication"/>
<arg name="controller_config_file"/>
<arg name="robot_ip"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default=""/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="tool_voltage" default="12"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<arg name="tool_device_name" default="/tmp/ttyUR"/>
<arg name="tool_tcp_port" default="54321"/>
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
<param name="script_file" value="$(arg urscript_file)"/>
<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
<param name="tf_prefix" value="$(arg tf_prefix)"/>
<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
<param name="tool_voltage" value="$(arg tool_voltage)"/>
<param name="tool_parity" value="$(arg tool_parity)"/>
<param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
<param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
</node>
<!-- Starts socat to bridge the robot's tool communication interface to a local tty device -->
<node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_rtde_driver" type="tool_communication" respawn="false" output="screen">
<param name="robot_ip" value="$(arg robot_ip)"/>
<param name="device_name" value="$(arg tool_device_name)"/>
<param name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
</node>
<!-- Load controller settings -->
<rosparam file="$(arg controller_config_file)" command="load"/>
<!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="$(arg controllers)" />
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load $(arg stopped_controllers)" />
<node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
<remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>
<rosparam param="consistent_controllers">
- "joint_state_controller"
- "speed_scaling_state_controller"
- "force_torque_sensor_controller"
</rosparam>
</node>
</launch>