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