From 3f1a5faae32fb7962db381497425a90cff52b34e Mon Sep 17 00:00:00 2001 From: Jonathan Herbert Date: Fri, 28 Sep 2018 17:50:28 -0400 Subject: [PATCH] Fixes and Improvements for README.md (#191) Squashed commits: * Fixes and Improvements for README.md * readme: fix list of tested hw. --- README.md | 38 +++++++++++++++++--------------------- 1 file changed, 17 insertions(+), 21 deletions(-) diff --git a/README.md b/README.md index 6b9abcb..9c66e83 100644 --- a/README.md +++ b/README.md @@ -74,7 +74,7 @@ executor more "tolerant" to execution delays. There is also another parameter: ## Installation -**As the driver communicates with the robot via ethernet and depends on reliable continous communication, it is not possible to reliably control a UR from a virtual machine.** +**As the driver communicates with the robot via ethernet and depends on reliable continous communication, it is not possible to reliably control a UR from a virtual machine.** Just clone the repository into your catkin working directory and make it with ```catkin_make```. @@ -123,7 +123,8 @@ The position based controller *should* stay closer to the commanded path, while **Note** that the PID values are not optimally tweaked as of this moment. To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following -``` + +```yaml controller_list: - name: /vel_based_pos_traj_controller #or /pos_based_pos_traj_controller action_ns: follow_joint_trajectory @@ -147,44 +148,38 @@ This driver broadcasts a transformation between the base link and the end-effect To use the *tool0_controller* frame in a URDF, there needs to be a link with that name connected to *base*. For example: -``` +```xml - + ``` Now, the actual transform between *base* and *tool0_controller* will not be published by the *robot_state_publisher* but will be taken from this driver via */tf*. -NOTE: You need an up-to-date version of *robot_state_publisher* that is able to deal with floating joints, see: https://github.com/ros/robot_state_publisher/pull/32 +**NOTE**: You need an up-to-date version of *robot_state_publisher* that is able to deal with floating joints, see: https://github.com/ros/robot_state_publisher/pull/32 ## Compatibility Should be compatible with all robots and control boxes with the newest firmware. -###Tested with: +### Tested with: -*Real UR10 with CB2 running 1.8.14035 - -*Real UR5 with CB2 running 1.8.14035 +* Real UR10 with CB2 running 1.8.14035 +* Real UR5 with CB2 running 1.8.14035 +* Simulated UR3 running 3.1.18024 +* Simulated UR5 running 3.0.16471 +* Simulated UR5 running 1.8.16941 +* Simulated UR5 running 1.7.10857 +* Simulated UR5 running 1.6.08725 -*Simulated UR3 running 3.1.18024 - -*Simulated UR5 running 3.0.16471 - -*Simulated UR5 running 1.8.16941 - -*Simulated UR5 running 1.7.10857 - -*Simulated UR5 running 1.6.08725 - - -#Credits +# Credits Please cite the following report if using this driver +``` @techreport{andersen2015optimizing, title = {Optimizing the Universal Robots ROS driver.}, institution = {Technical University of Denmark, Department of Electrical Engineering}, @@ -192,6 +187,7 @@ Please cite the following report if using this driver year = {2015}, url = {http://orbit.dtu.dk/en/publications/optimizing-the-universal-robots-ros-driver(20dde139-7e87-4552-8658-dbf2cdaab24b).html} } +``` The report can be downloaded from http://orbit.dtu.dk/en/publications/optimizing-the-universal-robots-ros-driver(20dde139-7e87-4552-8658-dbf2cdaab24b).html