Obbart/universal_robots_ros_driver
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Felix Mauch
2019-06-17 08:57:52 +02:00
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# UR_RTDE_Driver
This repository contains the new **ur_rtde_driver** and a couple of helper packages, such as:
* **controller_stopper**: A small external tool that stops and restarts ros-controllers based on
the robot's state. This can be helpful, when the robot is in a state, where it won't accept
commands sent from ROS.
* **ur_calibration**: Package around extracting and converting a robot's factory calibration
information to make it usable by the robot_description.
* **ur_controllers**: Controllers introduced with this driver, such as speed-scaling-aware
controllers.
* **ur_rtde_driver**: The actual driver package.
Please see the individual packages for further information. Especially the [README of the
ur_rtde_driver](ur_rtde_driver/README.md) serves as an entry point to get everything running.

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# ur_rtde_driver
This driver is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver).
It works for all CB3 and eSeries robots and uses the RTDE interface for communication, whenever possible.
## Features
* **Factory calibration** of the robot inside ROS to reach Cartesian
targets precisely.
* **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the eSeries. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (TODO: Write tutorial on how to compile a realtime kernel for Ubuntu)
* Transparent **integration of the teach-pendant**. Using the URCaps system, a program is running
on the robot that handles control commands sent from ROS side. With this, the robot can be
**paused**, **stopped** and **resumed** without restarting the ROS driver.
This will in the future also enable, the usage of ROS-components as a part of a more complex UR-program
on the teach pendant. This is currently not yet supported, as we are still missing to exit
control from ROS side. Expect this to come in future releases.
* Use the robot's **speed-scaling**. When speed scaling is active due to safety constraints or the
speed slider is used, this gets correctly handled on the ROS side, as well slowing down
trajectory execution accordingly. **Note**: Due to the speed scaling interface, other controllers
than the scaled controllers provided, currently cannot be used. We plan to change this in
upcoming releases.
## Building
```bash
# source global ros
$ source /opt/ros/<your_ros_version>/setup.bash
# create a catkin workspace
$ mkdir -p catkin_ws/src && cd catkin_ws
$ catkin_make
$ cd src
# clone the driver
$ git clone <this_repository_url>
# clone fork of the description to use the calibration feature
$ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git
# install dependencies
$ rosdep install --from-path . -y --ignore-src
# build the driver
$ cd ..
$ catkin_make
# source the workspace
$ source devel/setup.bash
```
## Initial robot setup
To setup a new robot with this driver, please see the [initial setup tutorial](doc/initial_setup.md)