Obbart/universal_robots_ros_driver
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Updated Readme

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Thomas Timm Andersen
2015-09-17 10:07:04 +02:00
parent 22d51874e5
commit 98a52b0255
1 changed files with 17 additions and 2 deletions
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README.md
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@@ -22,15 +22,23 @@ __Improvements__
The driver exposes the same functionality as the previous ur\_driver:
*Action interface on _/follow\_joint\_trajectory_ for seamless integration with MoveIt
*Publishes robot joint state on _/joint\_states_
*Publishes TCP force on state on _/wrench_
*Publishes IO states state on _/io\_states_
*Service call to set outputs and payload (Note: I am not sure if setting the payload actually works, as the robot GUI does not update. This is also true for the old ur\_driver )
Besides this, the driver subscribes to two new topics:
*/ur\_driver/URScript : takes messages of type _std\_msgs/String_ and directly forwards it to the robot. Note that no control is done on the input, so use at your own risk! Inteded for sending movel/movej commands directly to the robot
*/joint\_speed : takes messages of type trajectory\_msgs/JointTrajectory, parses the first JointTracetoryPoint and sends the specified joint speeds and accelerations to the robot. Remember to set values for all 6 joints. Ignores the field joint\_names, so set the values in the correct order.
*/ur\_driver/URScript : takes messages of type _std\_msgs/String_ and directly forwards it to the robot. Note that no control is done on the input, so use at your own risk! Inteded for sending movel/movej commands directly to the robot.
*/joint\_speed : takes messages of type trajectory\_msgs/JointTrajectory, parses the first JointTracetoryPoint and sends the specified joint speeds and accelerations to the robot. This interface is intended for doing visual servoing and other kind of control that requires speed control rather than position control of the robot. Remember to set values for all 6 joints. Ignores the field joint\_names, so set the values in the correct order.
This driver is written in c++, which should make it possible to integrate it with ros_control. If you fell like undertaking this task, please dive right in. I don't have the posibility to do this.
@@ -40,13 +48,20 @@ No script is sent to the robot. This means that the teach pendant can be used to
---
Should be compatible with all robots and control boxes with the newest firmware.
Tested with:
*Real UR10 with CB2 running 1.8.14035
*Real UR5 with CB2 running 1.8.14035
*Simulated UR3 running 3.1.18024
*Simulated UR5 running 3.0.16471
*Simulated UR5 running 1.8.16941
*Simulated UR5 running 1.7.10857
*Simulated UR5 running 1.6.08725