Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-09 17:40:47 +02:00
Code Releases Activity

Updated calibration instructions

Browse Source
This commit is contained in:
Lea Steffen
2019-09-25 13:14:31 +02:00
committed by Felix Mauch
parent 9af6389b52
commit 8c4532f29a
2 changed files with 44 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
README.md
View File

@@ -3,7 +3,7 @@ Universal Robots have become a dominant supplier lightweight, robotic manipulato
<center><img src="ur_rtde_driver/doc/initial_setup_images/e-Series.png" alt="Universal Robot e-Serie familie" style="width: 45%;"/></center>
With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control have increased further increase. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.
With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.
It is the core value of Universal Robots, to empower people to achieve any goal within automation. The success criteria of this driver release is to follow this vision, by providing the ROS community with an easy to use, stable and powerful driver, that empowers the community to reach their goals in research and automation without struggling with unimportant technical challenges, instability or lacking features.
@@ -33,7 +33,7 @@ It was developed in collaboration between [Universal Robots](https://www.univers
the [FZI Research Center for Information Technology](https://www.fzi.de).
## How to report a Issue
## How to report an issue
Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_robots_ros_driver/issues) and use [Issue #1 as a template](https://gitlab.com/ur_ros_beta/universal_robots_ros_driver/issues/1).
## Features
@@ -125,44 +125,39 @@ make use of this in ROS, you first have to extract the calibration information f
Though this step is not necessary, to control the robot using this driver, it is highly recommended
to do so, as endeffector positions might be off in the magnitude of centimeters.
For this, there exists a helper script:
$ roslaunch ur_calibration calibration_correction.launch \
robot_ip:=192.168.56.101 \
robot_name:=ur10_example \
robot_ip:=<robot_ip> \
robot_name:=<robot_name> \
output_package_name:=ur_calibration \
subfolder_name:=etc
As soon as you see the output
As soon as you see the output:
[ INFO] [1560953586.352160902]: Calibration correction done
you can exit the roslaunch by bressing `CTRL+C`.
For the parameter **robot_ip** insert the ip on which the ROS pc can reach the robot. The
**robot_name** is an arbitrary name you can give to the robot. It is recommended, to choose a unique
name that can be easily matched to the physical robot.
The script will then extract the calibration information from the robot and convert it to a yaml
syntax that can be used by the robot_description.
For the parameter **<robot_ip>** insert the ip on which the ROS pc can reach the robot. The
**<robot_name>** is an arbitrary name you can give to the robot. It is recommended, to choose a unique
name that can be easily matched to the physical robot.
The resulting yaml file is stored in the package specified in the **output_package_name** parameter
inside the folder **subfolder_name** with the name **robot_name***_calibration.yaml*. The parameter
**subfolder_name** is optional and defaults to *etc* if not given.
In the example above, we use the **ur_calibration** package from this repository. This won't work,
if you use a binary installation of this driver. In that case please create an own ROS package as
described below.
**Note:** You'll have to provide the name of an existing package. It is recommended to have a
package storing all calibrations of all UR robots inside your organization. This way, the extraction
as described in this package has only to be performed once and the calibration can be reused by
other users.
To create a new package, go to your catkin_workspace's src folder and call
In the example above, we use the **ur_calibration** package from this repository. This won't work,
if you use a binary installation of this driver. In that case please create a new ROS package (before performing the calibration) by
going to your catkin_workspace's src folder and calling:
catkin_create_pkg my_calibrations
It is recommended to adapt the new package's *package.xml* with a meaningful description.
#### Quick start
Once the driver is built and the **externalcontrol** URCap is installed on the robot, you are good

50
ur_calibration/README.md
View File

@@ -1,39 +1,49 @@
# ur_calibration
Package for extracting the factory calibration from a UR robot and change it such that it can be used by `ur_description` to gain a correct URDF
Package for extracting the factory calibration from a UR robot and changing it to be used by `ur_description` to gain a correct URDF model.
Each UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To also
make use of this in ROS, you first have to extract the calibration information from the robot.
Though this step is not necessary, to control the robot using this driver, it is highly recommended
to do so, as end effector positions might be off in the magnitude of centimeters.
## Nodes
### calibration_correction
This node extracts calibration information directly from a robot, calculates the URDF correction and
saves it into a yaml file.
saves it into a .yaml file.
With the parameters explained below calibration will be saved inside
```bash
<output_package_name>/<subfolder>/<robot_name>_calibration.yaml
```
#### Example usage
```bash
rosrun ur_calibration calibration_correction _robot_ip:=192.168.56.101 _robot_name:=ur10_ideal _output_package_name:=ur_calibration
```
#### Parameters
* **"~subfolder_name"** (default: "etc")
#### Helper script
In the launch folder of the ur_calibration package is a helper script:
Given a package where the output should be saved, the calibration file will be saved in this
subfolder relative to the package root.
$ roslaunch ur_calibration calibration_correction.launch \
robot_ip:=<robot_ip> \
robot_name:=<robot_name> \
output_package_name:=ur_calibration \
subfolder_name:=etc
* **"~robot_ip"** (required)
For the parameter **<robot_ip>** insert the ip on which the ROS pc can reach the robot. The
**<robot_name>** is an arbitrary name you can give to the robot. It is recommended, to choose a unique
name that can be easily matched to the physical robot.
IP address of the robot. The robot has to be reachable with this ip from the machine running
this node.
As soon as you see the output
[ INFO] [1560953586.352160902]: Calibration correction done
* **"~robot_name"** (required)
you can exit the roslaunch by pressing `CTRL+C`.
#### Prerequisites for binary installation
In the example above, we use the **ur_calibration** package from this repository. This won't work,
if you use a binary installation of this driver. In that case please create a new ROS package
by going to your catkin_workspace's src folder and calling:
Arbitrary name that will be used for generating the calibration file's filename (see node
description).
catkin_create_pkg my_calibrations
* **"~output_package_name"** (required)
Package inside which the calibration data will be stored in. This package has to exist and has
to be writable. Otherwise execution will fail and calibration data won't be saved.
It is recommended to adapt the new package's *package.xml* with a meaningful description.