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Copy file name to clipboardExpand all lines: ur_robot_driver/doc/hardware_interface_parameters.rst
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@@ -37,7 +37,7 @@ Path to the file containing the recipe used for requesting RTDE outputs.
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reverse_port (Required)
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-----------------------
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Port that will be opened to communicate between the driverand the robot controller.
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Port that will be used by to communicate between the robot controller and the driver. This port needs to be free and will be opened on the host running the driver.
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robot_ip (Required)
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-------------------
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script_sender_port (Required)
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-----------------------------
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The driver will offer an interface to receive the program's URScript on this port.
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Network port which the driver provides the URScript program that needs to run on the robot. This number needs to be configured for the [External Control URCap](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap).
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This port needs to be free and will be opened on the host running the driver.
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servoj_gain (Required)
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----------------------
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Baud rate used for tool communication. Will be set as soon as the UR-Program on the robot is started. See UR documentation for valid baud rates. Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to ``true``. Then, this parameter is required.
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This can also be configured using the robot teach pendant. Remember to save the installation on the robot to keep the setting after reboot.
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tool_parity (Required)
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----------------------
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Parity used for tool communication. Will be set as soon as the UR-Program on the robot is started. Can be 0 (None), 1 (odd) and 2 (even). Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to ``true``. Then, this parameter is required.
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This can also be configured using the robot teach pendant. Remember to save the installation on the robot to keep the setting after reboot.
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tool_rx_idle_chars (Required)
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-----------------------------
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Number of idle chars for the RX unit used for tool communication. Will be set as soon as the UR-Program on the robot is started. Valid values: min=1.0, max=40.0 Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to ``true``. Then, this parameter is required.
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This can also be configured using the robot teach pendant. Remember to save the installation on the robot to keep the setting after reboot.
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tool_stop_bits (Required)
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-------------------------
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Number of stop bits used for tool communication. Will be set as soon as the UR-Program on the robot is started. Can be 1 or 2. Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to ``true``. Then, this parameter is required.
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This can also be configured using the robot teach pendant. Remember to save the installation on the robot to keep the setting after reboot.
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tool_tx_idle_chars (Required)
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-----------------------------
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Number of idle chars for the TX unit used for tool communication. Will be set as soon as the UR-Program on the robot is started. Valid values: min=0.0, max=40.0 Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to ``true``. Then, this parameter is required.
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This can also be configured using the robot teach pendant. Remember to save the installation on the robot to keep the setting after reboot.
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tool_voltage (Required)
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-----------------------
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Tool voltage that will be set as soon as the UR-Program on the robot is started. Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to ``true``. Then, this parameter is required.
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This can also be configured using the robot teach pendant. Remember to save the installation on the robot to keep the setting after reboot.
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use_tool_communication (Required)
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---------------------------------
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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 well.
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For more info please see :ref:`tool communication setup guide <setup-tool-communication>`.
There are two different sets of **modes** that are used throughout this documentation:
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- The driver's mode of operation (External Control vs Headless)
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- (e-series only) The robot's control mode (Local Control Mode vs Remote Control Mode)
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- The ROS2 driver's mode of operation: _Teach pendant mode_ and _Headless mode_.
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- The Robot's control mode: _Local Control Mode_ and _Remote Control Mode_. (Not applicable to the CB3 series)
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Both will be explained below.
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Robot's control modes
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---------------------
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On the e-series the robot itself can operate in different command modes: It can be either in local control mode where the teach pendant is the single point of command or in remote control mode, where motions from the TP, starting & loading programs from the TP activating the freedrive mode are blocked. Note that the remote control mode has to be explicitly enabled in the robot's settings under Settings -> System -> Remote Control. See the robot's manual for details.
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E-series robots can operate in different command modes: It can be either in _local control mode_ where the teach pendant is the single point of control, or in _remote control mode_ where the teach pendant is locked and cannot be used to start any motion, including freedrive. Note that the ability to change to _remote control mode_ has to be explicitly enabled in the robot's settings under Settings -> System -> Remote Control. See the [robot manual](https://myur.universal-robots.com/manuals) for details.
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The remote control mode is needed for many aspects of this driver such as
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Driver's operation modes
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------------------------
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There are two fundamentally different modes of operation when using this driver with a UR robot /
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URSim: External Control Mode and Headless Mode. Depending on your requirements one can be more
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suitable than the other.
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There are two fundamentally different control modes of the UR ROS driver to control a UR robot or the URSim robot simulator:
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- _Teach pendant mode_ using the :ref:`External Control URCap<install-urcap-e-series>`
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- _Headless Mode_ that works without interacting with Teach pendant, when _remote control mode_ has been selected on the teach pendant.
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.. _external_control_mode:
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.. _teach_pendant_mode:
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External Control Mode
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Teach Pendant Mode
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^^^^^^^^^^^^^^^^^^^^^
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In External Control mode you will need the :ref:`External Control URCap<install-urcap-e-series>`
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installed on the robot. With that, create a program containing the *External Control* program node.
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Once the program enters that node, it will request script code from an external source (in this
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case the ROS driver) and execute that.
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In Teach Pendant mode you will need the :ref:`External Control URCap<install-urcap-e-series>`
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installed on the robot. Please follow the installation guidelines for the :ref:`CB3<install-urcap-cb3>` or :ref:`E-series<install-urcap-e-series>`. Remember to set the correct IP address for the ROS driver host computer, and ensure the configured port number matches the ``script_sender_port`` defined in the ROS driver's launch arguments, default is 50002.
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As soon as other script code is sent to the robot either by sending it directly through this driver
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or by pressing any motion-related button on the teach pendant, the script will be overwritten by
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this action and has to be restarted by using the "play" button on the teach pendant.
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With that, create a program containing the *External Control* program node and press "play" on the teach pendant to start the program.
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Hereafter the URCap will request script code from the ROS driver and execute it, once the program enters that node. In addition, the ROS driver can return the control to the Teach pendent program. This gives the possibility to combine the teach pendant program and the use of the ROS driver.
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Please note that a running program will stop as soon as another program is sent to the robot, either by sending it directly through this driver or by pressing any motion-related button on the teach pendant. Therefore, the ROS drivers will not be able to send commands to the robot again afterward until the ROS driver's program has been restarted. This can be done using the "play" button on the teach pendant.
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If this is necessary, you will see the output ``Connection to reverse interface dropped.`` from the driver.
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.. note::
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It is also possible to use the driver's external control mode with the robot's local control
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mode together. In this case you will need to load and start the program containing the *External
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Control* program node through the :ref:`dashboard_client`'s ``load_program`` and ``play``
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It is also possible to use the ROS driver's _Teach pendant mode_ with the robot's _Remote control
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mode_ together. In this case you will need to load and start the program containing the *External
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Control URCap* program node through the :ref:`dashboard_client`'s ``load_program`` and ``play``
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services.
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.. _headless_mode:
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Headless mode
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^^^^^^^^^^^^^
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Inside this driver, there's the headless mode, which can be either enabled or not. When the headless mode is activated, required script code for external control will be sent to the robot directly when the driver starts.
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When headless mode is activated while launching the ROS driver, the URScript code will be sent directly to the robot controller and started directly.
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As soon as other script code is sent to the robot either by sending it directly through this driver
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or by pressing any motion-related button on the teach pendant, the script will be overwritten by
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this action and has to be restarted by using the ``/io_and_status_controller/resend_robot_program``
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service. If this is necessary, you will see the output ``Connection to reverse interface dropped.``
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from the driver.
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Please note, that a running program will stop as soon as another program is sent to the robot, either by sending it directly through this driver, or by pressing any motion-related button on the teach pendant. Therefore, the ROS driver will not be able to send commands to the robot again afterward until the ROS driver's program has been restarted.
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The robot program can be restarted using the ``/io_and_status_controller/resend_robot_program`` service.
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If this is necessary, you will see the output ``Connection to reverse interface dropped.`` from the driver.
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.. note::
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On e-Series robots the robot must be in remote_control_mode as explained above in order to use the
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driver's Headless Mode.
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On e-Series robots and newer, the robot must be in _remote control mode_ as explained above in order to use the
It uses the robot's speed scaling information and can also be paused when pausing the *External
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Control* program. See it's linked documentation for details.
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It uses the robot's speed scaling information and thereby the safety compliance features, like pause on safeguard stop. In addition, it also makes it possible to adjust execution speed using the speed slider on the teach pendant or set the program in pause and restart it again.
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See it's linked documentation for details.
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.. note::
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It is planned to replace this controller with ros2_control's joint_trajectory_controller once
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that has received the capability of being scaled, as well.
Copy file name to clipboardExpand all lines: ur_robot_driver/doc/usage/move.rst
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Move the robot
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==============
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Before running any commands, first check the controllers' state using ``ros2 control list_controllers`` (Remember to install the ``ros2controlcli`` package).
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First check the controllers' state using ``ros2 control list_controllers``, before running any commands. (Remember to install the ``ros2controlcli`` package).
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* Send some goal to the Joint Trajectory Controller by using a demo node from `ros2_controllers_test_nodes <https://github.com/ros-controls/ros2_controllers/blob/master/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py>`_ package by starting the following command in another terminal:
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* Send goals to the Joint Trajectory Controller by using a demo node from `ros2_controllers_test_nodes <https://github.com/ros-controls/ros2_controllers/blob/master/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py>`_ package by starting the following command in another terminal:
Copy file name to clipboardExpand all lines: ur_robot_driver/doc/usage/simulation.rst
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Simulation
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==========
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As mentioned in the last section the driver has two basic modes of operation: Using mock hardware or
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using real hardware (Or the URSim simulator, which is equivalent from the driver's perspective).
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Apart from being used with a real robot, the ROS driver can be used with ros2_control's mock hardware or the URSim simulator (which is equivalent from the driver's perspective).
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Additionally, the robot can be simulated using
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`Gazebo Classic <https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation>`_ or
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`GZ Sim <https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation>`_ but that's
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