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Felix Exner (fexner)
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Merge pull request #114 from fmauch/remove_ros2_control
Remove ros2_control tag from package (and move it to ur_robot_driver)
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‎README.md‎

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As mentioned above, see the `urdf/ur.urdf.xacro` file as an example to integrate a UR robot into
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your scene description. Basically, you could create a copy of that file and extend it with the
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modifications from your specific scene.
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### Using description with ros2_control
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The description itself does not contain a `ros2_control` tag. However, the package provides a couple
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of helper files to create your own `ros2_control` tag describing the robot's joint control
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mechanisms. See the [`urdf/ur_mocked.urdf.xacro`](urdf/ur_mocked.urdf.xacro)
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file as an example using [mock
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hardware](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html)
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to control the robot.

‎test/test_ur_urdf_xacro.py‎

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import shutil
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import subprocess
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import tempfile
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import pytest
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from ament_index_python.packages import get_package_share_directory
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def test_ur_urdf_xacro():
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@pytest.mark.parametrize(
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"ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"]
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)
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@pytest.mark.parametrize("description_file", ["ur.urdf.xacro", "ur_mocked.urdf.xacro"])
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@pytest.mark.parametrize("prefix", ["", "my_ur_"])
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def test_ur_urdf_xacro(ur_type, description_file, prefix):
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# Initialize Arguments
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ur_type = "ur3"
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safety_limits = "true"
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safety_pos_margin = "0.15"
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safety_k_position = "20"
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# General Arguments
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description_package = "ur_description"
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description_file = "ur.urdf.xacro"
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prefix = '""'
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joint_limit_params = os.path.join(
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get_package_share_directory(description_package), "config", ur_type, "joint_limits.yaml"

‎urdf/inc/ur_joint_control.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<xacro:macro name="ur_joint_control_description" params="
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tf_prefix
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initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
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">
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<joint name="${tf_prefix}shoulder_pan_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.15</param>
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<param name="max">3.15</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}shoulder_lift_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.15</param>
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<param name="max">3.15</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}elbow_joint">
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<command_interface name="position">
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<param name="min">{-pi}</param>
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<param name="max">{pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.15</param>
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<param name="max">3.15</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['elbow_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}wrist_1_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.2</param>
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<param name="max">3.2</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}wrist_2_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.2</param>
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<param name="max">3.2</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}wrist_3_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.2</param>
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<param name="max">3.2</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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</xacro:macro>
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</robot>

‎urdf/inc/ur_sensors.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="ur_sensors" params="tf_prefix">
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<sensor name="${tf_prefix}tcp_fts_sensor">
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<state_interface name="force.x"/>
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<state_interface name="force.y"/>
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<state_interface name="force.z"/>
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<state_interface name="torque.x"/>
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<state_interface name="torque.y"/>
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<state_interface name="torque.z"/>
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</sensor>
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</xacro:macro>
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</robot>

‎urdf/ros2_control_mock_hardware.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" />
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<xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
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<xacro:macro name="ur_ros2_control" params="
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name
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tf_prefix
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mock_sensor_commands:=false
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initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
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">
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<ros2_control name="${name}" type="system">
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<hardware>
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<plugin>mock_components/GenericSystem</plugin>
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<param name="mock_sensor_commands">${mock_sensor_commands}</param>
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<param name="state_following_offset">0.0</param>
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</hardware>
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<xacro:ur_joint_control_description
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tf_prefix="${tf_prefix}"
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initial_positions="${initial_positions}"
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/>
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<xacro:ur_sensors
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tf_prefix="${tf_prefix}"
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/>
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</ros2_control>
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</xacro:macro>
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</robot>

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