From 9a94eb50b11f2595ca223467aa993862d92134bd Mon Sep 17 00:00:00 2001
From: Miguel Prada <miguel.prada.sarasola@gmail.com>
Date: Fri, 24 Feb 2017 11:09:10 +0100
Subject: [PATCH 1/5] Remove dependecy on ros_controllers metapackage.

As per http://www.ros.org/reps/rep-0127.html, packages are not allowed to
depend on metapackages.
---
 package.xml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/package.xml b/package.xml
index 5cf0127..11d7c95 100644
--- a/package.xml
+++ b/package.xml
@@ -4,7 +4,7 @@
   <version>0.0.1</version>
   <description>The new driver for the UR3/UR5/UR10 robot arms from universal robots</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="thomas.timm.dk@gmail.com">Thomas Timm Andersen</maintainer>
@@ -54,7 +54,6 @@
   <build_depend>realtime_tools</build_depend>
   <run_depend>hardware_interface</run_depend>
   <run_depend>controller_manager</run_depend>
-  <run_depend>ros_controllers</run_depend>
   <run_depend>actionlib</run_depend>
   <run_depend>control_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>

From e272a857e74184264f3336cf613d947aeb01a6fd Mon Sep 17 00:00:00 2001
From: Ruddick Lawrence <ruddick@carbon.ai>
Date: Fri, 7 Jul 2017 16:43:10 -0700
Subject: [PATCH 2/5] Copy config folder on install

---
 CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e9f3b83..f4b01d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -133,7 +133,7 @@ endif()
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 # include_directories(include)
-include_directories(include 
+include_directories(include
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -176,6 +176,7 @@ target_link_libraries(ur_driver
 #############
 
 install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
 
 ## Mark executables and/or libraries for installation
 install(TARGETS ur_driver ur_hardware_interface

From 50510eced1e7b827ddd35d6158e5211595bf7445 Mon Sep 17 00:00:00 2001
From: Ruddick Lawrence <ruddick@carbon.ai>
Date: Fri, 7 Jul 2017 16:53:05 -0700
Subject: [PATCH 3/5] Correct controller names. Fixes
 ThomasTimm/ur_modern_driver#98

---
 launch/ur3_ros_control.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/ur3_ros_control.launch b/launch/ur3_ros_control.launch
index 5b782aa..9caf2d2 100644
--- a/launch/ur3_ros_control.launch
+++ b/launch/ur3_ros_control.launch
@@ -10,7 +10,7 @@
   <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="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" />
@@ -38,11 +38,11 @@
 
   <!-- spawn controller manager -->
   <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
+    output="screen" args="joint_state_controller force_torque_sensor_controller pos_based_pos_traj_controller" />
 
   <!-- load other controller -->
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load position_based_position_trajectory_controller" />
+    output="screen" args="load vel_based_pos_traj_controller" />
 
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

From 7290b1e15ad3021ec09451673bf77d84444acff8 Mon Sep 17 00:00:00 2001
From: Max <max.gittelman@gtri.gatech.edu>
Date: Fri, 4 Aug 2017 18:27:01 -0400
Subject: [PATCH 4/5] added installation and runtime execution for absolute
 beginners

---
 README.md | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/README.md b/README.md
index 8b355ea..48e84a5 100644
--- a/README.md
+++ b/README.md
@@ -49,6 +49,21 @@ The driver is designed to be a drop-in replacement of the ur\_driver package. It
 
 If you want to test it in your current setup, just use the modified launch files included in this package instead of those in ur\_bringup. Everything else should work as usual.
 
+If you would like to run this package to connect to the hardware, you only need to run the following launch file.
+```
+roslaunch ur_modern_driver urXX_bringup.launch robot_ip:=ROBOT_IP_ADDRESS
+```
+
+Where ROBOT_IP_ADDRESS is your UR arm's IP and XX is '5' or '10' depending on your robot. The above launch file makes calls to both roscore and the launch file to the urXX_description so that ROS's parameter server has information on your robot arm. If you do not have your ```ur_description``` installed please do so via:
+```
+sudo apt install ros-<distro>-ur-description
+```
+
+Where <distro> is the ROS distribution your machine is running on. You may want to run MoveIt to plan and execute actions on the arm. You can do so by simply entering the following commands after launching ```ur_modern_driver```:
+```
+roslaunch urXX_moveit_config ur5_moveit_planning_executing.launch
+roslaunch urXX_moveit_config moveit_rviz.launch config:=true
+```
 ---
 If you would like to use the ros\_control-based approach, use the launch files urXX\_ros\_control.launch, where XX is '5' or '10' depending on your robot.
 
@@ -143,3 +158,4 @@ Please cite the following report if using this driver
 
 
 The report can be downloaded from http://orbit.dtu.dk/en/publications/optimizing-the-universal-robots-ros-driver(20dde139-7e87-4552-8658-dbf2cdaab24b).html
+

From 9397f47ac158fe5976719f33101334371bc15d44 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Tue, 10 Oct 2017 14:04:55 +0200
Subject: [PATCH 5/5] Updated readme.md

Updated readme.md to include information that the driver won't work reliably on a virtual machine
---
 README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/README.md b/README.md
index 48e84a5..3dabb07 100644
--- a/README.md
+++ b/README.md
@@ -39,6 +39,8 @@ A new driver for the UR3/UR5/UR10 robot arms from Universal Robots. It is design
 
 ## 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.** 
+
 Just clone the repository into your catkin working directory and make it with ```catkin_make```.
 
 Note that this package depends on ur_msgs, hardware_interface, and controller_manager so it cannot directly be used with ROS versions prior to hydro.