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https://gitlab.com/obbart/universal_robots_ros_driver.git
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UR3 Support
This commit is contained in:
Jeppe Walther
97
config/ur3_controllers.yaml
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97
config/ur3_controllers.yaml
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# Currently simply a copy of ur5_controllers.yaml
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# Settings for ros_control control loop
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hardware_control_loop:
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loop_hz: 125
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# Settings for ros_control hardware interface
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hardware_interface:
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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# Publish all joint states ----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 125
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# Publish wrench ----------------------------------
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force_torque_sensor_controller:
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type: force_torque_sensor_controller/ForceTorqueSensorController
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publish_rate: 125
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# Joint Trajectory Controller - position based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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position_based_position_trajectory_controller:
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type: position_controllers/JointTrajectoryController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 125
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action_monitor_rate: 10
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gains:
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#!!These values have not been optimized!!
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shoulder_pan_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
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shoulder_lift_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
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elbow_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
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wrist_1_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
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wrist_2_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
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wrist_3_joint: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1}
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# state_publish_rate: 50 # Defaults to 50
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# action_monitor_rate: 20 # Defaults to 20
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#hold_trajectory_duration: 0 # Defaults to 0.5
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# Joint Trajectory Controller - velocity based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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velocity_based_position_trajectory_controller:
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type: velocity_controllers/JointTrajectoryController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 125
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action_monitor_rate: 10
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gains:
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#!!These values have not been optimized!!
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shoulder_pan_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
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shoulder_lift_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
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elbow_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
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wrist_1_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
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wrist_2_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
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wrist_3_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
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# state_publish_rate: 50 # Defaults to 50
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# action_monitor_rate: 20 # Defaults to 20
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#hold_trajectory_duration: 0 # Defaults to 0.5
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29
launch/ur3_bringup.launch
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29
launch/ur3_bringup.launch
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<?xml version="1.0"?>
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<!--
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Universal robot ur3 launch. Loads ur3 robot description (see ur_common.launch
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for more info)
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Usage:
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ur3_bringup.launch robot_ip:=<value>
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-->
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<launch>
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<!-- robot_ip: IP-address of the robot's socket-messaging server -->
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<arg name="robot_ip"/>
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<arg name="limited" default="false"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="3.0"/>
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<!-- robot model -->
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<include file="$(find ur_description)/launch/ur3_upload.launch">
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<arg name="limited" value="$(arg limited)"/>
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</include>
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<!-- ur common -->
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<include file="$(find ur_modern_driver)/launch/ur_common.launch">
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="min_payload" value="$(arg min_payload)"/>
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<arg name="max_payload" value="$(arg max_payload)"/>
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</include>
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</launch>
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22
launch/ur3_bringup_joint_limited.launch
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22
launch/ur3_bringup_joint_limited.launch
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<?xml version="1.0"?>
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<!--
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Universal robot ur3 launch. Wraps ur3_bringup.launch. Uses the 'limited'
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joint range [-PI, PI] on all joints.
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Usage:
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ur3_bringup_joint_limited.launch robot_ip:=<value>
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-->
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<launch>
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<!-- robot_ip: IP-address of the robot's socket-messaging server -->
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<arg name="robot_ip"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="10.0"/>
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<include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="limited" value="true"/>
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<arg name="min_payload" value="$(arg min_payload)"/>
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<arg name="max_payload" value="$(arg max_payload)"/>
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</include>
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</launch>
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42
launch/ur3_ros_control.launch
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42
launch/ur3_ros_control.launch
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<launch>
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<!-- GDB functionality -->
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<arg name="debug" default="false" />
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
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<arg name="robot_ip"/>
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<arg name="limited" default="false"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="3.0"/>
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<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
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<!-- robot model -->
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<include file="$(find ur_description)/launch/ur3_upload.launch">
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<arg name="limited" value="$(arg limited)"/>
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</include>
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<!-- Load hardware interface -->
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<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
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<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
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<param name="min_payload" type="double" value="$(arg min_payload)"/>
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<param name="max_payload" type="double" value="$(arg max_payload)"/>
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<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
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<param name="use_ros_control" type="bool" value="True"/>
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</node>
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<!-- Load controller settings -->
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<rosparam file="$(find ur_modern_driver)/config/ur3_controllers.yaml" command="load"/>
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<!-- spawn controller manager -->
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<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
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<!-- load other controller -->
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<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
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output="screen" args="load position_based_position_trajectory_controller" />
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<!-- Convert joint states to /tf tranforms -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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</launch>
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