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Add support for UR7e and UR12e (#1320)
(cherry picked from commit d168696) # Conflicts: # ur_moveit_config/launch/ur_moveit.launch.py # ur_robot_driver/launch/ur_control.launch.py # ur_robot_driver/launch/ur_rsp.launch.py # ur_robot_driver/urdf/ur.urdf.xacro
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-4
lines changed

9 files changed

+856
-4
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‎README.md‎

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@@ -117,7 +117,7 @@ For getting started, you'll basically need three steps:
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details.
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```bash
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# Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30
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# Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur20, ur30
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# Replace the IP address with the IP address of your actual robot / URSim
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ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
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```

‎ur_moveit_config/launch/ur_moveit.launch.py‎

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@@ -81,6 +81,7 @@ def launch_setup(context, *args, **kwargs):
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robot_description_content = Command(
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[
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<<<<<<< HEAD
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
@@ -123,6 +124,44 @@ def launch_setup(context, *args, **kwargs):
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"prefix:=",
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prefix,
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" ",
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=======
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DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?"),
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DeclareLaunchArgument(
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"ur_type",
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description="Typo/series of used UR robot.",
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choices=[
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"ur3",
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"ur3e",
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"ur5",
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"ur5e",
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"ur7e",
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"ur10",
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"ur10e",
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"ur12e",
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"ur16e",
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"ur20",
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"ur30",
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],
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),
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DeclareLaunchArgument(
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"warehouse_sqlite_path",
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default_value=os.path.expanduser("~/.ros/warehouse_ros.sqlite"),
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description="Path where the warehouse database should be stored",
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),
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DeclareLaunchArgument(
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"launch_servo", default_value="false", description="Launch Servo?"
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),
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="false",
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description="Using or not time from simulation",
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),
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DeclareLaunchArgument(
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"publish_robot_description_semantic",
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default_value="true",
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description="MoveGroup publishes robot description semantic",
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),
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>>>>>>> d168696 (Add support for UR7e and UR12e (#1320))
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]
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)
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robot_description = {"robot_description": robot_description_content}

‎ur_robot_driver/doc/usage/startup.rst‎

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Original file line numberDiff line numberDiff line change
@@ -22,8 +22,8 @@ nodes for UR robots. The only required arguments are the ``ur_type`` and ``robot
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$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
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Allowed ``ur_type`` strings: ``ur3``, ``ur3e``, ``ur5``, ``ur5e``, ``ur10``, ``ur10e``, ``ur16e``,
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``ur20``, ``ur30``.
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Allowed ``ur_type`` strings: ``ur3``, ``ur3e``, ``ur5``, ``ur5e``, ``ur7e``, ``ur10``, ``ur10e``,
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``ur12e``, ``ur16e``, ``ur20``, ``ur30``.
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Other important arguments are:
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‎ur_robot_driver/launch/ur12e.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,101 @@
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# Copyright (c) 2025 Universal Robots A/S
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
7+
# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
10+
# notice, this list of conditions and the following disclaimer in the
11+
# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
14+
# contributors may be used to endorse or promote products derived from
15+
# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19+
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21+
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23+
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24+
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27+
# POSSIBILITY OF SUCH DAMAGE.
28+
29+
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_ip",
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description="IP address by which the robot can be reached.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_mock_hardware",
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default_value="false",
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description="Start robot with mock hardware mirroring command to its states.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"mock_sensor_commands",
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default_value="false",
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description="Enable mock command interfaces for sensors used for simple simulations. "
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"Used only if 'use_mock_hardware' parameter is true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="scaled_joint_trajectory_controller",
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description="Initially loaded robot controller.",
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choices=[
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"scaled_joint_trajectory_controller",
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"joint_trajectory_controller",
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"forward_velocity_controller",
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"forward_position_controller",
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"freedrive_mode_controller",
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"passthrough_trajectory_controller",
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],
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"activate_joint_controller",
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default_value="true",
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description="Activate loaded joint controller.",
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)
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)
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# Initialize Arguments
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robot_ip = LaunchConfiguration("robot_ip")
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use_mock_hardware = LaunchConfiguration("use_mock_hardware")
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mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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activate_joint_controller = LaunchConfiguration("activate_joint_controller")
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base_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
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launch_arguments={
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"ur_type": "ur12e",
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"robot_ip": robot_ip,
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"use_mock_hardware": use_mock_hardware,
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"mock_sensor_commands": mock_sensor_commands,
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"initial_joint_controller": initial_joint_controller,
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"activate_joint_controller": activate_joint_controller,
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}.items(),
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)
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return LaunchDescription(declared_arguments + [base_launch])

‎ur_robot_driver/launch/ur7e.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,101 @@
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# Copyright (c) 2025 Universal Robots A/S
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#
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# Redistribution and use in source and binary forms, with or without
4+
# modification, are permitted provided that the following conditions are met:
5+
#
6+
# * Redistributions of source code must retain the above copyright
7+
# notice, this list of conditions and the following disclaimer.
8+
#
9+
# * Redistributions in binary form must reproduce the above copyright
10+
# notice, this list of conditions and the following disclaimer in the
11+
# documentation and/or other materials provided with the distribution.
12+
#
13+
# * Neither the name of the {copyright_holder} nor the names of its
14+
# contributors may be used to endorse or promote products derived from
15+
# this software without specific prior written permission.
16+
#
17+
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18+
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19+
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21+
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23+
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24+
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27+
# POSSIBILITY OF SUCH DAMAGE.
28+
29+
from launch import LaunchDescription
30+
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
33+
34+
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_ip",
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description="IP address by which the robot can be reached.",
42+
)
43+
)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_mock_hardware",
47+
default_value="false",
48+
description="Start robot with mock hardware mirroring command to its states.",
49+
)
50+
)
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declared_arguments.append(
52+
DeclareLaunchArgument(
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"mock_sensor_commands",
54+
default_value="false",
55+
description="Enable mock command interfaces for sensors used for simple simulations. "
56+
"Used only if 'use_mock_hardware' parameter is true.",
57+
)
58+
)
59+
declared_arguments.append(
60+
DeclareLaunchArgument(
61+
"initial_joint_controller",
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default_value="scaled_joint_trajectory_controller",
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description="Initially loaded robot controller.",
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choices=[
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"scaled_joint_trajectory_controller",
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"joint_trajectory_controller",
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"forward_velocity_controller",
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"forward_position_controller",
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"freedrive_mode_controller",
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"passthrough_trajectory_controller",
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],
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)
73+
)
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declared_arguments.append(
75+
DeclareLaunchArgument(
76+
"activate_joint_controller",
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default_value="true",
78+
description="Activate loaded joint controller.",
79+
)
80+
)
81+
82+
# Initialize Arguments
83+
robot_ip = LaunchConfiguration("robot_ip")
84+
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
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mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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activate_joint_controller = LaunchConfiguration("activate_joint_controller")
88+
89+
base_launch = IncludeLaunchDescription(
90+
PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
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launch_arguments={
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"ur_type": "ur7e",
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"robot_ip": robot_ip,
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"use_mock_hardware": use_mock_hardware,
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"mock_sensor_commands": mock_sensor_commands,
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"initial_joint_controller": initial_joint_controller,
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"activate_joint_controller": activate_joint_controller,
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}.items(),
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)
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101+
return LaunchDescription(declared_arguments + [base_launch])

‎ur_robot_driver/launch/ur_control.launch.py‎

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@@ -395,7 +395,23 @@ def generate_launch_description():
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DeclareLaunchArgument(
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"ur_type",
397397
description="Type/series of used UR robot.",
398+
<<<<<<< HEAD
398399
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
400+
=======
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choices=[
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"ur3",
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"ur3e",
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"ur5",
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"ur5e",
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"ur7e",
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"ur10",
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"ur10e",
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"ur12e",
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"ur16e",
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"ur20",
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"ur30",
413+
],
414+
>>>>>>> d168696 (Add support for UR7e and UR12e (#1320))
399415
)
400416
)
401417
declared_arguments.append(

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