Obbart/universal_robots_ros_driver
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Fixes and Improvements for README.md (#191)

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* Fixes and Improvements for README.md
* readme: fix list of tested hw.
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Jonathan Herbert
2018-09-28 17:50:28 -04:00
committed by G.A. vd. Hoorn
parent b4bb0d4a65
commit 3f1a5faae3
1 changed files with 17 additions and 21 deletions
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@@ -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. **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 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: controller_list:
- name: /vel_based_pos_traj_controller #or /pos_based_pos_traj_controller - name: /vel_based_pos_traj_controller #or /pos_based_pos_traj_controller
action_ns: follow_joint_trajectory action_ns: follow_joint_trajectory
@@ -147,19 +148,19 @@ 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: To use the *tool0_controller* frame in a URDF, there needs to be a link with that name connected to *base*. For example:
``` ```xml
<!-- Connect tool0_controller to base using floating joint --> <!-- Connect tool0_controller to base using floating joint -->
<link name="tool0_controller"/> <link name="tool0_controller"/>
<joint name="base-tool0_controller_floating_joint" type="floating"> <joint name="base-tool0_controller_floating_joint" type="floating">
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<parent link=base"/> <parent link="base"/>
<child link="tool0_controller"/> <child link="tool0_controller"/>
</joint> </joint>
``` ```
Now, the actual transform between *base* and *tool0_controller* will not be published by the *robot_state_publisher* but will be taken from this driver via */tf*. Now, the actual transform between *base* and *tool0_controller* will not be published by the *robot_state_publisher* but will be taken from this driver via */tf*.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 ## Compatibility
Should be compatible with all robots and control boxes with the newest firmware. Should be compatible with all robots and control boxes with the newest firmware.
@@ -167,24 +168,18 @@ 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 UR10 with CB2 running 1.8.14035
* Real UR5 with CB2 running 1.8.14035 * Real UR5 with CB2 running 1.8.14035
* Simulated UR3 running 3.1.18024 * Simulated UR3 running 3.1.18024
* Simulated UR5 running 3.0.16471 * Simulated UR5 running 3.0.16471
* Simulated UR5 running 1.8.16941 * Simulated UR5 running 1.8.16941
* Simulated UR5 running 1.7.10857 * Simulated UR5 running 1.7.10857
* Simulated UR5 running 1.6.08725 * Simulated UR5 running 1.6.08725
# Credits # Credits
Please cite the following report if using this driver Please cite the following report if using this driver
```
@techreport{andersen2015optimizing, @techreport{andersen2015optimizing,
title = {Optimizing the Universal Robots ROS driver.}, title = {Optimizing the Universal Robots ROS driver.},
institution = {Technical University of Denmark, Department of Electrical Engineering}, institution = {Technical University of Denmark, Department of Electrical Engineering},
@@ -192,6 +187,7 @@ Please cite the following report if using this driver
year = {2015}, year = {2015},
url = {http://orbit.dtu.dk/en/publications/optimizing-the-universal-robots-ros-driver(20dde139-7e87-4552-8658-dbf2cdaab24b).html} 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 The report can be downloaded from http://orbit.dtu.dk/en/publications/optimizing-the-universal-robots-ros-driver(20dde139-7e87-4552-8658-dbf2cdaab24b).html