Obbart/universal_robots_ros_driver
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Documented launch files

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This commit is contained in:
Felix Mauch
2019-09-30 09:23:08 +02:00
parent 2c3e91c95f
commit f6b52c3d29
10 changed files with 124 additions and 137 deletions
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1
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
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@@ -245,6 +245,7 @@ protected:
bool controllers_initialized_;
std::string robot_ip_;
std::string tf_prefix_;
};
} // namespace ur_driver

21
ur_rtde_driver/launch/ur10_bringup.launch
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@@ -1,17 +1,14 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>

37
ur_rtde_driver/launch/ur10e_bringup.launch
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@@ -1,26 +1,25 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
<arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
<arg name="use_tool_communication" default="false"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<arg name="tool_device_name" default="/tmp/ttyUR"/>
<arg name="tool_tcp_port" default="54321"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>

21
ur_rtde_driver/launch/ur3_bringup.launch
View File

@@ -1,17 +1,14 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>

39
ur_rtde_driver/launch/ur3e_bringup.launch
View File

@@ -1,26 +1,23 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg name="use_tool_communication" default="false"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<arg name="tool_device_name" default="/tmp/ttyUR"/>
<arg name="tool_tcp_port" default="54321"/>
<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
<arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>

21
ur_rtde_driver/launch/ur5_bringup.launch
View File

@@ -1,17 +1,14 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>

39
ur_rtde_driver/launch/ur5e_bringup.launch
View File

@@ -1,26 +1,23 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg name="use_tool_communication" default="false"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<arg name="tool_device_name" default="/tmp/ttyUR"/>
<arg name="tool_tcp_port" default="54321"/>
<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
<arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>

36
ur_rtde_driver/launch/ur_common.launch
View File

@@ -1,23 +1,23 @@
<?xml version="1.0"?>
<launch>
<arg name="debug" default="false" />
<arg name="use_tool_communication"/>
<arg name="controller_config_file"/>
<arg name="robot_description_file"/>
<arg name="kinematics_config"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<arg name="tool_device_name" default="/tmp/ttyUR"/>
<arg name="tool_tcp_port" default="54321"/>
<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_control.launch"/>
<arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
<arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<arg name="robot_description_file" doc="Robot description launch file."/>
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
<!-- robot model -->
<include file="$(arg robot_description_file)">

38
ur_rtde_driver/launch/ur_control.launch
View File

@@ -2,28 +2,28 @@
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg name="debug" default="false" doc="If set to true, will start the driver inside gdb" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="use_tool_communication"/>
<arg name="controller_config_file"/>
<arg name="robot_ip"/>
<arg name="kinematics_config"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_output_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_output_recipe.txt"/>
<arg name="rtde_input_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_input_recipe.txt"/>
<arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<arg name="tool_device_name" default="/tmp/ttyUR"/>
<arg name="tool_tcp_port" default="54321"/>
<arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
<arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript" doc="Path to URScript that will be sent to the robot and that forms the main control program."/>
<arg name="rtde_output_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_output_recipe.txt" doc="Recipe file used for the RTDE-outputs. Only change this if you know what you're doing."/>
<arg name="rtde_input_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_input_recipe.txt" doc="Recipe file used for the RTDE-inputs. Only change this if you know what you're doing."/>
<arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">

8
ur_rtde_driver/src/ros/hardware_interface.cpp
View File

@@ -64,6 +64,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
return false;
}
robot_hw_nh.param<std::string>("tf_prefix", tf_prefix_, "");
// Path to the urscript code that will be sent to the robot. This is a required parameter.
if (!robot_hw_nh.getParam("script_file", script_filename))
{
@@ -91,8 +93,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
// message gets published here. So this is equivalent to the information whether the robot accepts
// commands from ROS side.
program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
tcp_transform_.header.frame_id = "base";
tcp_transform_.child_frame_id = "tool0_controller";
tcp_transform_.header.frame_id = tf_prefix_ + "base";
tcp_transform_.child_frame_id = tf_prefix_ + "tool0_controller";
// Should the tool's RS485 interface be forwarded to the ROS machine? This is only available on
// e-Series models. Setting this parameter to TRUE requires multiple other parameters to be set,as
@@ -244,7 +246,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));
fts_interface_.registerHandle(hardware_interface::ForceTorqueSensorHandle(
"wrench", "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));
"wrench", tf_prefix_ + "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));
// Register interfaces
registerInterface(&js_interface_);