From 814364dd1f35bfc5f74c978d78d181dfc12eeab8 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Thu, 17 Nov 2016 07:12:36 -0800 Subject: [PATCH 01/10] Update README.md corrected the controller names for to be used when implementing ros_control. Also noted that the velocity_based_position_trajectory_controller is started by default. --- README.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index fff5871..1b52365 100644 --- a/README.md +++ b/README.md @@ -52,8 +52,7 @@ If you want to test it in your current setup, just use the modified launch files --- 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. -The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. -You can switch controller by calling the appropriate service: +The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service: ``` rosservice call /universal_robot/controller_manager/switch_controller "start_controllers: - 'velocity_based_position_trajectory_controller' @@ -70,7 +69,7 @@ The position based controller *should* stay closer to the commanded path, while To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following ``` controller_list: - - name: vel_based_pos_traj_controller #or pos_based_pos_traj_controller + - name: /velocity_based_position_trajectory_controller #or /position_based_position_trajectory_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true From a410f99400cfbb25186eec38917ea2f5e46a6fad Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Thu, 17 Nov 2016 07:27:03 -0800 Subject: [PATCH 02/10] Update README.md Added instructions on where to find packages needed when using ros_control --- README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/README.md b/README.md index 1b52365..0e13923 100644 --- a/README.md +++ b/README.md @@ -52,6 +52,10 @@ If you want to test it in your current setup, just use the modified launch files --- 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. +**Note** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. Simply copy these packages into your workspace /src folder. + * urXX_movit_config + * ur_description + The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service: ``` rosservice call /universal_robot/controller_manager/switch_controller "start_controllers: From 2295f3b8b9716679e5a1a8b34d4cf943ff735993 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Thu, 17 Nov 2016 07:43:01 -0800 Subject: [PATCH 03/10] Update README.md Revised the ros_control usage notes --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 0e13923..d96ea47 100644 --- a/README.md +++ b/README.md @@ -52,7 +52,7 @@ If you want to test it in your current setup, just use the modified launch files --- 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. -**Note** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. Simply copy these packages into your workspace /src folder. +**Note:** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. If you do not have the ur\_driver package in your workspace simply copy these packages into your workspace /src folder: * urXX_movit_config * ur_description From d6b319b28d3bb2c2efe89295deb64a8e8fdbe855 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Mon, 21 Nov 2016 06:50:17 -0800 Subject: [PATCH 04/10] Update ur5_controllers.yaml revised controller names to be consistent between all models and readme suggestions --- config/ur5_controllers.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/ur5_controllers.yaml b/config/ur5_controllers.yaml index a6c4569..90e4981 100644 --- a/config/ur5_controllers.yaml +++ b/config/ur5_controllers.yaml @@ -24,7 +24,7 @@ force_torque_sensor_controller: # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -pos_based_pos_traj_controller: +position_based_position_trajectory_controller: type: position_controllers/JointTrajectoryController joints: - shoulder_pan_joint @@ -52,7 +52,7 @@ pos_based_pos_traj_controller: # Joint Trajectory Controller - velocity based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -vel_based_pos_traj_controller: +velocity_based_position_trajectory_controller: type: velocity_controllers/JointTrajectoryController joints: - shoulder_pan_joint From 1248d6575d973bd6b86b06c6702ce810aaaa6d00 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Mon, 21 Nov 2016 06:51:46 -0800 Subject: [PATCH 05/10] Update ur10_controllers.yaml updated controller names to be consistent between all models and readme suggested usage --- config/ur10_controllers.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/ur10_controllers.yaml b/config/ur10_controllers.yaml index eb9134b..12410fd 100644 --- a/config/ur10_controllers.yaml +++ b/config/ur10_controllers.yaml @@ -24,7 +24,7 @@ force_torque_sensor_controller: # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -pos_based_pos_traj_controller: +position_based_position_trajectory_controller: type: position_controllers/JointTrajectoryController joints: - shoulder_pan_joint @@ -52,7 +52,7 @@ pos_based_pos_traj_controller: # Joint Trajectory Controller ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -vel_based_pos_traj_controller: +velocity_based_position_trajectory_controller: type: velocity_controllers/JointTrajectoryController joints: - shoulder_pan_joint From 35c9d68e33fd97445ebf40c5b2a759b7f4334a02 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Mon, 21 Nov 2016 07:17:56 -0800 Subject: [PATCH 06/10] Update ur10_controllers.yaml corrected controller names to match original ur10 and ur5 usage --- config/ur10_controllers.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/ur10_controllers.yaml b/config/ur10_controllers.yaml index 12410fd..eb9134b 100644 --- a/config/ur10_controllers.yaml +++ b/config/ur10_controllers.yaml @@ -24,7 +24,7 @@ force_torque_sensor_controller: # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -position_based_position_trajectory_controller: +pos_based_pos_traj_controller: type: position_controllers/JointTrajectoryController joints: - shoulder_pan_joint @@ -52,7 +52,7 @@ position_based_position_trajectory_controller: # Joint Trajectory Controller ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -velocity_based_position_trajectory_controller: +vel_based_pos_traj_controller: type: velocity_controllers/JointTrajectoryController joints: - shoulder_pan_joint From 5e3558603c1d328d61790e4373e19ef1ae1a576b Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Mon, 21 Nov 2016 07:18:40 -0800 Subject: [PATCH 07/10] Update ur5_controllers.yaml corrected controller names to match original ur10 and ur5 usage --- config/ur5_controllers.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/ur5_controllers.yaml b/config/ur5_controllers.yaml index 90e4981..a6c4569 100644 --- a/config/ur5_controllers.yaml +++ b/config/ur5_controllers.yaml @@ -24,7 +24,7 @@ force_torque_sensor_controller: # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -position_based_position_trajectory_controller: +pos_based_pos_traj_controller: type: position_controllers/JointTrajectoryController joints: - shoulder_pan_joint @@ -52,7 +52,7 @@ position_based_position_trajectory_controller: # Joint Trajectory Controller - velocity based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -velocity_based_position_trajectory_controller: +vel_based_pos_traj_controller: type: velocity_controllers/JointTrajectoryController joints: - shoulder_pan_joint From a188a0ce0de8f3fa733b984659d6e2349d24f829 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Mon, 21 Nov 2016 07:20:38 -0800 Subject: [PATCH 08/10] Update ur3_controllers.yaml corrected controller names to match original ur10 and ur5 usage --- config/ur3_controllers.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/ur3_controllers.yaml b/config/ur3_controllers.yaml index e0187e9..45b34f4 100644 --- a/config/ur3_controllers.yaml +++ b/config/ur3_controllers.yaml @@ -26,7 +26,7 @@ force_torque_sensor_controller: # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -position_based_position_trajectory_controller: +pos_based_pos_traj_controller: type: position_controllers/JointTrajectoryController joints: - shoulder_pan_joint @@ -54,7 +54,7 @@ position_based_position_trajectory_controller: # Joint Trajectory Controller - velocity based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -velocity_based_position_trajectory_controller: +vel_based_pos_traj_controller: type: velocity_controllers/JointTrajectoryController joints: - shoulder_pan_joint From d89a06b2d49598bb8c80ecd9a3053f7414b09ef6 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Mon, 21 Nov 2016 07:24:49 -0800 Subject: [PATCH 09/10] Update README.md corrected controller names to match original ur10 and ur5 usage --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index d96ea47..fa17d06 100644 --- a/README.md +++ b/README.md @@ -59,9 +59,9 @@ If you would like to use the ros\_control-based approach, use the launch files u The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service: ``` rosservice call /universal_robot/controller_manager/switch_controller "start_controllers: -- 'velocity_based_position_trajectory_controller' +- 'vel_based_pos_traj_controller' stop_controllers: -- 'position_based_position_trajectory_controller' +- 'pos_based_pos_traj_controller' strictness: 1" ``` Be sure to stop the currently running controller **either before or in the same call** as you start a new one, otherwise it will fail. @@ -73,7 +73,7 @@ The position based controller *should* stay closer to the commanded path, while To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following ``` controller_list: - - name: /velocity_based_position_trajectory_controller #or /position_based_position_trajectory_controller + - name: /vel_based_pos_traj_controller #or /pos_based_pos_traj_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true From 452161a4d4ed1c48cab44956f8215641accb4398 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Mon, 21 Nov 2016 07:45:12 -0800 Subject: [PATCH 10/10] Update README.md typo --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index fa17d06..8b355ea 100644 --- a/README.md +++ b/README.md @@ -53,7 +53,7 @@ If you want to test it in your current setup, just use the modified launch files 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. **Note:** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. If you do not have the ur\_driver package in your workspace simply copy these packages into your workspace /src folder: - * urXX_movit_config + * urXX_moveit_config * ur_description The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service: