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Felix Exner (fexner)
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Add control description and ros2_control tag to driver. (#877)
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4 files changed

+338
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lines changed

‎ur_robot_driver/CMakeLists.txt‎

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@@ -167,7 +167,7 @@ install(PROGRAMS scripts/start_ursim.sh
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY config launch
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install(DIRECTORY config launch urdf
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DESTINATION share/${PROJECT_NAME}
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)
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‎ur_robot_driver/launch/ur_control.launch.py‎

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@@ -101,7 +101,7 @@ def launch_setup(context, *args, **kwargs):
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
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PathJoinSubstitution([FindPackageShare("ur_robot_driver"), "urdf", description_file]),
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" ",
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"robot_ip:=",
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robot_ip,

‎ur_robot_driver/urdf/ur.ros2_control.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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kinematics_parameters_file
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robot_ip
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script_filename
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input_recipe_filename
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output_recipe_filename
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transmission_hw_interface:=hardware_interface/PositionJointInterface
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use_mock_hardware:=false mock_sensor_commands:=false
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headless_mode:=false
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initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
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use_tool_communication:=false
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tool_voltage:=0 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
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tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
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reverse_port:=50001
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script_sender_port:=50002
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reverse_ip:=0.0.0.0
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script_command_port:=50004
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trajectory_port:=50003
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non_blocking_read:=true
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keep_alive_count:=2
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">
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<xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
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<xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
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<xacro:property name="kinematics_hash" value="${sec_kinematics['hash']}" scope="parent"/>
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<!-- Add URDF transmission elements (for ros_control) -->
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<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
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<!-- Placeholder for ros2_control transmission which don't yet exist -->
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<ros2_control name="${name}" type="system">
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<hardware>
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<xacro:if value="${use_mock_hardware}">
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<plugin>mock_components/GenericSystem</plugin>
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<param name="mock_sensor_commands">${mock_sensor_commands}</param>
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<param name="state_following_offset">0.0</param>
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</xacro:if>
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<xacro:unless value="${use_mock_hardware}">
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<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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<param name="script_filename">${script_filename}</param>
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<param name="output_recipe_filename">${output_recipe_filename}</param>
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<param name="input_recipe_filename">${input_recipe_filename}</param>
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<param name="headless_mode">${headless_mode}</param>
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<param name="reverse_port">${reverse_port}</param>
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<param name="script_sender_port">${script_sender_port}</param>
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<param name="reverse_ip">${reverse_ip}</param>
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<param name="script_command_port">${script_command_port}</param>
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<param name="trajectory_port">${trajectory_port}</param>
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<param name="tf_prefix">${tf_prefix}</param>
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<param name="non_blocking_read">${non_blocking_read}</param>
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<param name="servoj_gain">2000</param>
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<param name="servoj_lookahead_time">0.03</param>
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<param name="use_tool_communication">${use_tool_communication}</param>
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<param name="kinematics/hash">${kinematics_hash}</param>
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<param name="tool_voltage">${tool_voltage}</param>
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<param name="tool_parity">${tool_parity}</param>
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<param name="tool_baud_rate">${tool_baud_rate}</param>
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<param name="tool_stop_bits">${tool_stop_bits}</param>
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<param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
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<param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
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<param name="tool_device_name">${tool_device_name}</param>
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<param name="tool_tcp_port">${tool_tcp_port}</param>
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<param name="keep_alive_count">${keep_alive_count}</param>
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</xacro:unless>
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</hardware>
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<xacro:ur_joint_control_description
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tf_prefix="${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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<!-- NOTE The following are joints used only for testing with mock hardware and will change in the future -->
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<gpio name="${tf_prefix}speed_scaling">
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<state_interface name="speed_scaling_factor"/>
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<param name="initial_speed_scaling_factor">1</param>
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<command_interface name="target_speed_fraction_cmd"/>
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<command_interface name="target_speed_fraction_async_success"/>
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</gpio>
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<gpio name="${tf_prefix}gpio">
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<command_interface name="standard_digital_output_cmd_0"/>
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<command_interface name="standard_digital_output_cmd_1"/>
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<command_interface name="standard_digital_output_cmd_2"/>
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<command_interface name="standard_digital_output_cmd_3"/>
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<command_interface name="standard_digital_output_cmd_4"/>
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<command_interface name="standard_digital_output_cmd_5"/>
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<command_interface name="standard_digital_output_cmd_6"/>
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<command_interface name="standard_digital_output_cmd_7"/>
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<command_interface name="standard_digital_output_cmd_8"/>
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<command_interface name="standard_digital_output_cmd_9"/>
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<command_interface name="standard_digital_output_cmd_10"/>
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<command_interface name="standard_digital_output_cmd_11"/>
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<command_interface name="standard_digital_output_cmd_12"/>
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<command_interface name="standard_digital_output_cmd_13"/>
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<command_interface name="standard_digital_output_cmd_14"/>
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<command_interface name="standard_digital_output_cmd_15"/>
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<command_interface name="standard_digital_output_cmd_16"/>
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<command_interface name="standard_digital_output_cmd_17"/>
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<command_interface name="standard_analog_output_cmd_0"/>
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<command_interface name="standard_analog_output_cmd_1"/>
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<command_interface name="tool_voltage_cmd"/>
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<command_interface name="io_async_success"/>
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<state_interface name="digital_output_0"/>
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<state_interface name="digital_output_1"/>
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<state_interface name="digital_output_2"/>
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<state_interface name="digital_output_3"/>
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<state_interface name="digital_output_4"/>
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<state_interface name="digital_output_5"/>
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<state_interface name="digital_output_6"/>
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<state_interface name="digital_output_7"/>
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<state_interface name="digital_output_8"/>
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<state_interface name="digital_output_9"/>
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<state_interface name="digital_output_10"/>
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<state_interface name="digital_output_11"/>
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<state_interface name="digital_output_12"/>
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<state_interface name="digital_output_13"/>
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<state_interface name="digital_output_14"/>
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<state_interface name="digital_output_15"/>
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<state_interface name="digital_output_16"/>
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<state_interface name="digital_output_17"/>
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<state_interface name="digital_input_0"/>
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<state_interface name="digital_input_1"/>
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<state_interface name="digital_input_2"/>
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<state_interface name="digital_input_3"/>
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<state_interface name="digital_input_4"/>
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<state_interface name="digital_input_5"/>
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<state_interface name="digital_input_6"/>
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<state_interface name="digital_input_7"/>
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<state_interface name="digital_input_8"/>
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<state_interface name="digital_input_9"/>
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<state_interface name="digital_input_10"/>
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<state_interface name="digital_input_11"/>
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<state_interface name="digital_input_12"/>
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<state_interface name="digital_input_13"/>
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<state_interface name="digital_input_14"/>
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<state_interface name="digital_input_15"/>
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<state_interface name="digital_input_16"/>
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<state_interface name="digital_input_17"/>
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<state_interface name="standard_analog_output_0"/>
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<state_interface name="standard_analog_output_1"/>
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<state_interface name="standard_analog_input_0"/>
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<state_interface name="standard_analog_input_1"/>
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<state_interface name="analog_io_type_0"/>
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<state_interface name="analog_io_type_1"/>
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<state_interface name="analog_io_type_2"/>
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<state_interface name="analog_io_type_3"/>
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<state_interface name="tool_mode"/>
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<state_interface name="tool_output_voltage"/>
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<state_interface name="tool_output_current"/>
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<state_interface name="tool_temperature"/>
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<state_interface name="tool_analog_input_0"/>
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<state_interface name="tool_analog_input_1"/>
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<state_interface name="tool_analog_input_type_0"/>
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<state_interface name="tool_analog_input_type_1"/>
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<state_interface name="robot_mode"/>
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<state_interface name="robot_status_bit_0"/>
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<state_interface name="robot_status_bit_1"/>
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<state_interface name="robot_status_bit_2"/>
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<state_interface name="robot_status_bit_3"/>
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<state_interface name="safety_mode"/>
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<state_interface name="safety_status_bit_0"/>
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<state_interface name="safety_status_bit_1"/>
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<state_interface name="safety_status_bit_2"/>
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<state_interface name="safety_status_bit_3"/>
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<state_interface name="safety_status_bit_4"/>
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<state_interface name="safety_status_bit_5"/>
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<state_interface name="safety_status_bit_6"/>
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<state_interface name="safety_status_bit_7"/>
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<state_interface name="safety_status_bit_8"/>
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<state_interface name="safety_status_bit_9"/>
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<state_interface name="safety_status_bit_10"/>
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<state_interface name="program_running"/>
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</gpio>
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<gpio name="${tf_prefix}payload">
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<command_interface name="mass"/>
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<command_interface name="cog.x"/>
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<command_interface name="cog.y"/>
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<command_interface name="cog.z"/>
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<command_interface name="payload_async_success"/>
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</gpio>
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<gpio name="${tf_prefix}resend_robot_program">
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<command_interface name="resend_robot_program_cmd"/>
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<command_interface name="resend_robot_program_async_success"/>
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</gpio>
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<gpio name="${tf_prefix}hand_back_control">
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<command_interface name="hand_back_control_cmd"/>
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<command_interface name="hand_back_control_async_success"/>
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</gpio>
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<gpio name="${tf_prefix}zero_ftsensor">
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<command_interface name="zero_ftsensor_cmd"/>
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<command_interface name="zero_ftsensor_async_success"/>
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</gpio>
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<gpio name="${tf_prefix}system_interface">
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<state_interface name="initialized"/>
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</gpio>
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</ros2_control>
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</xacro:macro>
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</robot>

‎ur_robot_driver/urdf/ur.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
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<!-- robot name parameter -->
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<xacro:arg name="name" default="ur"/>
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<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
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<!-- ros2 control include -->
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<xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />
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<xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
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<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
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<!-- the default value should raise an error in case this was called without defining the type -->
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<xacro:arg name="ur_type" default="urXe"/>
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<!-- parameters -->
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<xacro:arg name="tf_prefix" default="" />
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<xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
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<xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
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<xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
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<xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
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<xacro:arg name="transmission_hw_interface" default=""/>
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<xacro:arg name="safety_limits" default="false"/>
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<xacro:arg name="safety_pos_margin" default="0.15"/>
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<xacro:arg name="safety_k_position" default="20"/>
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<!-- ros2_control related parameters -->
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<xacro:arg name="headless_mode" default="false" />
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<xacro:arg name="robot_ip" default="0.0.0.0" />
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<xacro:arg name="script_filename" default=""/>
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<xacro:arg name="output_recipe_filename" default=""/>
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<xacro:arg name="input_recipe_filename" default=""/>
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<xacro:arg name="reverse_ip" default="0.0.0.0"/>
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<xacro:arg name="script_command_port" default="50004"/>
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<xacro:arg name="reverse_port" default="50001"/>
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<xacro:arg name="script_sender_port" default="50002"/>
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<xacro:arg name="trajectory_port" default="50003"/>
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<!-- tool communication related parameters-->
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<xacro:arg name="use_tool_communication" default="false" />
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<xacro:arg name="tool_voltage" default="0" />
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<xacro:arg name="tool_parity" default="0" />
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<xacro:arg name="tool_baud_rate" default="115200" />
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<xacro:arg name="tool_stop_bits" default="1" />
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<xacro:arg name="tool_rx_idle_chars" default="1.5" />
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<xacro:arg name="tool_tx_idle_chars" default="3.5" />
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<xacro:arg name="tool_device_name" default="/tmp/ttyUR" />
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<xacro:arg name="tool_tcp_port" default="54321" />
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<!-- Simulation parameters -->
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<xacro:arg name="use_mock_hardware" default="false" />
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<xacro:arg name="mock_sensor_commands" default="false" />
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<xacro:arg name="simulation_controllers" default="" />
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<!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
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<xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
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<!-- convert to property to use substitution in function -->
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<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
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<!-- create link fixed to the "world" -->
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<link name="world" />
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<xacro:ur_robot
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name="$(arg name)"
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tf_prefix="$(arg tf_prefix)"
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parent="world"
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joint_limits_parameters_file="$(arg joint_limit_params)"
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kinematics_parameters_file="$(arg kinematics_params)"
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physical_parameters_file="$(arg physical_params)"
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visual_parameters_file="$(arg visual_params)"
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safety_limits="$(arg safety_limits)"
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safety_pos_margin="$(arg safety_pos_margin)"
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safety_k_position="$(arg safety_k_position)"
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>
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<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
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</xacro:ur_robot>
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<!-- ros2 control instance -->
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<xacro:ur_ros2_control
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name="$(arg name)"
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tf_prefix="$(arg tf_prefix)"
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kinematics_parameters_file="$(arg kinematics_params)"
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transmission_hw_interface="$(arg transmission_hw_interface)"
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use_mock_hardware="$(arg use_mock_hardware)"
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mock_sensor_commands="$(arg mock_sensor_commands)"
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headless_mode="$(arg headless_mode)"
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initial_positions="${xacro.load_yaml(initial_positions_file)}"
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use_tool_communication="$(arg use_tool_communication)"
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tool_voltage="$(arg tool_voltage)"
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tool_parity="$(arg tool_parity)"
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tool_baud_rate="$(arg tool_baud_rate)"
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tool_stop_bits="$(arg tool_stop_bits)"
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tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
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tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
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tool_device_name="$(arg tool_device_name)"
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tool_tcp_port="$(arg tool_tcp_port)"
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robot_ip="$(arg robot_ip)"
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script_filename="$(arg script_filename)"
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output_recipe_filename="$(arg output_recipe_filename)"
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input_recipe_filename="$(arg input_recipe_filename)"
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reverse_ip="$(arg reverse_ip)"
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script_command_port="$(arg script_command_port)"
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reverse_port="$(arg reverse_port)"
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script_sender_port="$(arg script_sender_port)"
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trajectory_port="$(arg trajectory_port)"
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/>
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</robot>

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