Added doc for headless_mode attribute

2026-04-09 17:40:47 +02:00 · 2019-09-30 17:50:03 +02:00
parent 888db15012
commit 39b4d23049
11 changed files with 57 additions and 13 deletions
--- a/ur_rtde_driver/README.md
+++ b/ur_rtde_driver/README.md
@@ -40,10 +40,9 @@ on details.
 **Note to e-Series users:**
 The robot won't accept script code from a remote source unless the robot is put into
 *remote_control-mode*. However, if put into *remote_control-mode*, the program containing the
-**External Control** program node can't be started from the panel. In the future, this will be
-supported in the *headless* mode which doesn't require a panel being connected. Until that, a
-possible workaround is to use a third party dashboard client (e.g. [ur_dash](https://github.com/gocarter/ur_dash))
-to start the program through the dashboard server.
+**External Control** program node can't be started from the panel. If this behavior is required,
+please use the headless mode that does not require having a program running on the teach pendant.
+Note: The current headless mode doesn't offer the full functionality of the teach pendant.

 For using the **tool communication interface** on e-Series robots, a `socat` script is prepared to
 forward the robot's tool communication interface to a local device on the ROS PC. See [the tool
--- a/ur_rtde_driver/doc/ROS_INTERFACE.md
+++ b/ur_rtde_driver/doc/ROS_INTERFACE.md
@@ -20,6 +20,10 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n

    Debug flag that will get passed on to ur_common.launch

+ * "**headless_mode**" (default: "false")
+
+    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.
+
 * "**kinematics_config**" (default: "$(find ur_e_description)/config/ur3e_default.yaml")

    Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
@@ -97,6 +101,10 @@ Standalone launchfile to startup a ur10 robot. This requires a robot reachable v

    Debug flag that will get passed on to ur_common.launch

+ * "**headless_mode**" (default: "false")
+
+    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.
+
 * "**kinematics_config**" (default: "$(find ur_description)/config/ur10_default.yaml")

    Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
@@ -138,6 +146,10 @@ Robot bringup launchfile without the robot description. Include this, if you wan

    If set to true, will start the driver inside gdb

+ * "**headless_mode**" (default: "false")
+
+    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.
+
 * "**kinematics_config**"

    Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description.
@@ -223,6 +235,10 @@ Launchfile that starts a robot description with robot_state publisher and the dr

    Debug flag that will get passed on to ur_control.launch

+ * "**headless_mode**" (default: "false")
+
+    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.
+
 * "**kinematics_config**"

    Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
@@ -300,6 +316,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi

    Debug flag that will get passed on to ur_common.launch

+ * "**headless_mode**" (default: "false")
+
+    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.
+
 * "**kinematics_config**" (default: "$(find ur_description)/config/ur5_default.yaml")

    Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
@@ -341,6 +361,10 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v

    Debug flag that will get passed on to ur_common.launch

+ * "**headless_mode**" (default: "false")
+
+    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.
+
 * "**kinematics_config**" (default: "$(find ur_e_description)/config/ur5e_default.yaml")

    Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
@@ -418,6 +442,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi

    Debug flag that will get passed on to ur_common.launch

+ * "**headless_mode**" (default: "false")
+
+    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.
+
 * "**kinematics_config**" (default: "$(find ur_description)/config/ur3_default.yaml")

    Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
@@ -459,6 +487,10 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable

    Debug flag that will get passed on to ur_common.launch

+ * "**headless_mode**" (default: "false")
+
+    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.
+
 * "**kinematics_config**" (default: "$(find ur_e_description)/config/ur10e_default.yaml")

    Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
@@ -529,6 +561,11 @@ This is the actual driver node containing the ROS-Control stack. Interfaces docu

    Calling this service will make the "External Control" program node on the UR-Program return.

+ * "**resend_robot_program**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html))
+
+    When in headless mode, this sends the URScript program to the robot for execution. Use this
+    after the program has been interrupted, e.g. by a protective- or EM-stop.
+
 * "**set_io**" (ur_msgs/SetIO)

    Service to set any of the robot's IOs
@@ -542,6 +579,10 @@ This is the actual driver node containing the ROS-Control stack. Interfaces docu

    Names of the joints. Usually, this is given in the controller config file.

+ * "**headless_mode**"
+
+    Start robot in headless mode. This does not require the 'External Control' URCap to be running on the robot, but this will send the URScript to the robot directly. On e-Series robots this requires the robot to run in 'remote-control' mode.
+
 * "**input_recipe_file**"

    Path to the file containing the recipe used for requesting RTDE inputs. This is a required parameter.
--- a/ur_rtde_driver/launch/ur10_bringup.launch
+++ b/ur_rtde_driver/launch/ur10_bringup.launch
@@ -9,7 +9,7 @@
  <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch" doc="Robot description launch file."/>
  <arg name="kinematics_config" default="$(find ur_description)/config/ur10_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."/>
  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
-  <arg name="headless_mode" default="false"/>
+  <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."/>

  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
    <arg name="debug" value="$(arg debug)"/>
--- a/ur_rtde_driver/launch/ur10e_bringup.launch
+++ b/ur_rtde_driver/launch/ur10e_bringup.launch
@@ -19,8 +19,7 @@
  <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."/>
  <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."/>
  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
-
-  <arg name="headless_mode" default="false"/>
+  <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."/>

  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
    <arg name="debug" value="$(arg debug)"/>
--- a/ur_rtde_driver/launch/ur3_bringup.launch
+++ b/ur_rtde_driver/launch/ur3_bringup.launch
@@ -9,7 +9,7 @@
  <arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch" doc="Robot description launch file."/>
  <arg name="kinematics_config" default="$(find ur_description)/config/ur3_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."/>
  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
-  <arg name="headless_mode" default="false"/>
+  <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."/>

  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
    <arg name="debug" value="$(arg debug)"/>
--- a/ur_rtde_driver/launch/ur3e_bringup.launch
+++ b/ur_rtde_driver/launch/ur3e_bringup.launch
@@ -18,7 +18,7 @@
  <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."/>
  <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."/>
  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
-  <arg name="headless_mode" default="false"/>
+  <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."/>

  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
    <arg name="debug" value="$(arg debug)"/>
--- a/ur_rtde_driver/launch/ur5_bringup.launch
+++ b/ur_rtde_driver/launch/ur5_bringup.launch
@@ -9,7 +9,7 @@
  <arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch" doc="Robot description launch file."/>
  <arg name="kinematics_config" default="$(find ur_description)/config/ur5_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."/>
  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
-  <arg name="headless_mode" default="false"/>
+  <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."/>

  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
    <arg name="debug" value="$(arg debug)"/>
--- a/ur_rtde_driver/launch/ur5e_bringup.launch
+++ b/ur_rtde_driver/launch/ur5e_bringup.launch
@@ -18,7 +18,7 @@
  <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."/>
  <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."/>
  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
-  <arg name="headless_mode" default="false"/>
+  <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."/>

  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
    <arg name="debug" value="$(arg debug)"/>
--- a/ur_rtde_driver/launch/ur_common.launch
+++ b/ur_rtde_driver/launch/ur_common.launch
@@ -18,7 +18,7 @@
  <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."/>
  <arg name="robot_description_file" doc="Robot description launch file."/>
  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
-  <arg name="headless_mode" default="false"/>
+  <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."/>

  <!-- robot model -->
  <include file="$(arg robot_description_file)">
--- a/ur_rtde_driver/launch/ur_control.launch
+++ b/ur_rtde_driver/launch/ur_control.launch
@@ -24,7 +24,7 @@
  <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."/>
  <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."/>
  <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."/>
-  <arg name="headless_mode" default="false"/>
+  <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."/>

  <!-- 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">
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -90,6 +90,9 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
  }

  bool headless_mode;
+  // Start robot in headless mode. This does not require the 'External Control' URCap to be running
+  // on the robot, but this will send the URScript to the robot directly. On e-Series robots this
+  // requires the robot to run in 'remote-control' mode.
  if (!robot_hw_nh.getParam("headless_mode", headless_mode))
  {
    ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("headless_mode") << " not given.");
@@ -296,6 +299,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h

  if (headless_mode)
  {
+    // When in headless mode, this sends the URScript program to the robot for execution. Use this
+    // after the program has been interrupted, e.g. by a protective- or EM-stop.
    resend_robot_program_srv_ =
        robot_hw_nh.advertiseService("resend_robot_program", &HardwareInterface::resendRobotProgram, this);
  }