Obbart/universal_robots_ros_driver
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Move all relevant documentation to the entry README

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Felix Mauch
2019-06-19 16:18:22 +02:00
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ur_rtde_driver/README.md
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# ur_rtde_driver
This driver is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver).
It works for all CB3 and eSeries robots and uses the RTDE interface for communication, whenever possible.
## Features
* **Factory calibration** of the robot inside ROS to reach Cartesian
targets precisely.
* **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the eSeries. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (TODO: Write tutorial on how to compile a realtime kernel for Ubuntu)
* Transparent **integration of the teach-pendant**. Using the URCaps system, a program is running
on the robot that handles control commands sent from ROS side. With this, the robot can be
**paused**, **stopped** and **resumed** without restarting the ROS driver.
This will in the future also enable, the usage of ROS-components as a part of a more complex UR-program
on the teach pendant. This is currently not yet supported, as we are still missing to exit
control from ROS side. Expect this to come in future releases.
* Use the robot's **speed-scaling**. When speed scaling is active due to safety constraints or the
speed slider is used, this gets correctly handled on the ROS side, as well slowing down
trajectory execution accordingly. **Note**: Due to the speed scaling interface, other controllers
than the scaled controllers provided, currently cannot be used. We plan to change this in
upcoming releases.
## Building
```bash
# source global ros
$ source /opt/ros/<your_ros_version>/setup.bash
# create a catkin workspace
$ mkdir -p catkin_ws/src && cd catkin_ws
$ catkin_make
$ cd src
# clone the driver
$ git clone <this_repository_url>
# clone fork of the description to use the calibration feature
$ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git
# install dependencies
$ rosdep install --from-path . -y --ignore-src
# build the driver
$ cd ..
$ catkin_make
# source the workspace
$ source devel/setup.bash
```
## Initial robot setup
To setup a new robot with this driver, please see the [initial setup tutorial](doc/initial_setup.md)
The actual driver package. For more information, please see the README in the top-level folder of
this repository.