Obbart/universal_robots_ros_driver
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implemented initialization of rs485 interface.

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This commit is contained in:
Felix Mauch
2019-06-06 17:36:06 +02:00
parent e4a2e9e743
commit 4cd13b6b83
10 changed files with 495 additions and 3 deletions
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1
ur_rtde_driver/launch/ur10_ros_control.launch
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@@ -31,6 +31,7 @@
<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
<param name="script_file" value="$(arg urscript_file)"/>
<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
<param name="use_tool_communication" value="false"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
<!--<param name="min_payload" type="double" value="$(arg min_payload)"/>-->
<!--<param name="max_payload" type="double" value="$(arg max_payload)"/>-->

65
ur_rtde_driver/launch/ur10e_ros_control.launch Normal file
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@@ -0,0 +1,65 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" />
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default=""/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="use_tool_communication" default="true"/>
<arg name="tool_voltage" default="12"/>
<arg name="tool_parity" default="1"/>
<arg name="tool_baud_rate" default="57600"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<!-- robot model -->
<include file="$(find ur_e_description)/launch/ur10e_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
<param name="script_file" value="$(arg urscript_file)"/>
<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
<param name="tool_voltage" value="$(arg tool_voltage)"/>
<param name="tool_parity" value="$(arg tool_parity)"/>
<param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
<param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
</node>
<!-- Load controller settings -->
<rosparam file="$(find ur_rtde_driver)/config/ur10e_controllers.yaml" command="load"/>
<!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="$(arg controllers)" />
<!-- load other controller -->
<!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
<!--output="screen" args="load $(arg stopped_controllers)" />-->
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch>