Renamed the driver to ur_robot_driver

ur_robot_driver/config/ur10_controllers.yaml

@@ -0,0 +1,62 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: 125
+
+# Settings for ros_control hardware interface
+hardware_interface:
+   joints: &robot_joints
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: 125
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: 125
+
+# Publish speed_scaling factor
+speed_scaling_state_controller:
+   type:         ur_controllers/SpeedScalingStateController
+   publish_rate: 125
+
+# Joint Trajectory Controller - position based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+scaled_pos_traj_controller:
+   type: position_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 125
+   action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 125
+   action_monitor_rate: 10

ur_robot_driver/config/ur10e_controllers.yaml

@@ -0,0 +1,62 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: 500
+
+# Settings for ros_control hardware interface
+hardware_interface:
+   joints: &robot_joints
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: 500
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: 500
+
+# Publish speed_scaling factor
+speed_scaling_state_controller:
+   type:         ur_controllers/SpeedScalingStateController
+   publish_rate: 500
+
+# Joint Trajectory Controller - position based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+scaled_pos_traj_controller:
+   type: position_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10

ur_robot_driver/config/ur3_controllers.yaml

@@ -0,0 +1,62 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: 125
+
+# Settings for ros_control hardware interface
+hardware_interface:
+   joints: &robot_joints
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: 125
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: 125
+
+# Publish speed_scaling factor
+speed_scaling_state_controller:
+   type:         ur_controllers/SpeedScalingStateController
+   publish_rate: 125
+
+# Joint Trajectory Controller - position based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+scaled_pos_traj_controller:
+   type: position_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 125
+   action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 125
+   action_monitor_rate: 10

ur_robot_driver/config/ur3e_controllers.yaml

@@ -0,0 +1,62 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: 500
+
+# Settings for ros_control hardware interface
+hardware_interface:
+   joints: &robot_joints
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: 500
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: 500
+
+# Publish speed_scaling factor
+speed_scaling_state_controller:
+   type:         ur_controllers/SpeedScalingStateController
+   publish_rate: 500
+
+# Joint Trajectory Controller - position based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+scaled_pos_traj_controller:
+   type: position_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10

ur_robot_driver/config/ur5_controllers.yaml

@@ -0,0 +1,62 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: 125
+
+# Settings for ros_control hardware interface
+hardware_interface:
+   joints: &robot_joints
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: 125
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: 125
+
+# Publish speed_scaling factor
+speed_scaling_state_controller:
+   type:         ur_controllers/SpeedScalingStateController
+   publish_rate: 125
+
+# Joint Trajectory Controller - position based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+scaled_pos_traj_controller:
+   type: position_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 125
+   action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 125
+   action_monitor_rate: 10

ur_robot_driver/config/ur5e_controllers.yaml

@@ -0,0 +1,62 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: 500
+
+# Settings for ros_control hardware interface
+hardware_interface:
+   joints: &robot_joints
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: 500
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: 500
+
+# Publish speed_scaling factor
+speed_scaling_state_controller:
+   type:         ur_controllers/SpeedScalingStateController
+   publish_rate: 500
+
+# Joint Trajectory Controller - position based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+scaled_pos_traj_controller:
+   type: position_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10