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https://gitlab.com/obbart/universal_robots_ros_driver.git
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53 lines
2.4 KiB
Markdown
53 lines
2.4 KiB
Markdown
# ur_moden_driver
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The new driver for the UR3/UR5/UR10 robot arms from universal robots
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__Installation__
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Just clone the repository into your catkin working directory and make it with ```catkin_make```.
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Note that this package depends on ur_msgs, so it cannot directly be used with ROS versions prior to hydro
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---
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__Usage__
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The driver is designed to be a drop-in replacement of the ur\_driver package. It _won't_ overwrite your current driver though, so you can use and test this package without risking to break your current setup.
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Just use the modified launch files included in this package instead of those in ur\_bringup. Everything else should work as usual.
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---
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__Improvements__
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The driver exposes the same functionality as the previous ur\_driver:
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*Action interface on _/follow\_joint\_trajectory_ for seamless integration with MoveIt
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*Publishes robot joint state on _/joint\_states_
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*Publishes TCP force on state on _/wrench_
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*Publishes IO states state on _/io\_states_
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*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 )
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Besides this, the driver subscribes to two new topics:
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*/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
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*/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.
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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.
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No script is sent to the robot. This means that the teach pendant can be used to move the robot around while the driver is running.
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---
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Should be compatible with all robots and control boxes with the newest firmware.
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Tested with:
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*Real UR10 with CB2 running 1.8.14035
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*Real UR5 with CB2 running 1.8.14035
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*Simulated UR3 running 3.1.18024
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*Simulated UR5 running 3.0.16471
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*Simulated UR5 running 1.8.16941
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*Simulated UR5 running 1.7.10857
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*Simulated UR5 running 1.6.08725
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