Obbart/universal_robots_ros_driver
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Added doc for headless_mode attribute

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This commit is contained in:
Felix Mauch
2019-09-30 17:50:03 +02:00
parent 888db15012
commit 39b4d23049
11 changed files with 57 additions and 13 deletions
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41
ur_rtde_driver/doc/ROS_INTERFACE.md
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@@ -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.