diff --git a/README.md b/README.md index 29b73e43c..72f1f3ba8 100644 --- a/README.md +++ b/README.md @@ -117,7 +117,7 @@ For getting started, you'll basically need three steps: details. ```bash - # Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur20, ur30 + # Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur15, ur20, ur30 # Replace the IP address with the IP address of your actual robot / URSim ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101 ``` diff --git a/ur_bringup/launch/ur15.launch.py b/ur_bringup/launch/ur15.launch.py new file mode 100644 index 000000000..7d14c070b --- /dev/null +++ b/ur_bringup/launch/ur15.launch.py @@ -0,0 +1,102 @@ +# Copyright (c) 2021 PickNik, Inc. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# +# Author: Denis Stogl + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_fake_hardware", + default_value="false", + description="Start robot with fake hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "fake_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_fake_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "initial_joint_controller", + default_value="scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + choices=[ + "scaled_joint_trajectory_controller", + "joint_trajectory_controller", + "forward_velocity_controller", + "forward_position_controller", + ], + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "activate_joint_controller", + default_value="true", + description="Activate loaded joint controller.", + ) + ) + + # Initialize Arguments + robot_ip = LaunchConfiguration("robot_ip") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") + initial_joint_controller = LaunchConfiguration("initial_joint_controller") + activate_joint_controller = LaunchConfiguration("activate_joint_controller") + + base_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]), + launch_arguments={ + "ur_type": "ur15", + "robot_ip": robot_ip, + "use_fake_hardware": use_fake_hardware, + "fake_sensor_commands": fake_sensor_commands, + "initial_joint_controller": initial_joint_controller, + "activate_joint_controller": activate_joint_controller, + }.items(), + ) + + return LaunchDescription(declared_arguments + [base_launch]) diff --git a/ur_bringup/launch/ur20.launch.py b/ur_bringup/launch/ur20.launch.py new file mode 100644 index 000000000..833fd46ee --- /dev/null +++ b/ur_bringup/launch/ur20.launch.py @@ -0,0 +1,102 @@ +# Copyright (c) 2021 PickNik, Inc. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# +# Author: Denis Stogl + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_fake_hardware", + default_value="false", + description="Start robot with fake hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "fake_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_fake_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "initial_joint_controller", + default_value="scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + choices=[ + "scaled_joint_trajectory_controller", + "joint_trajectory_controller", + "forward_velocity_controller", + "forward_position_controller", + ], + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "activate_joint_controller", + default_value="true", + description="Activate loaded joint controller.", + ) + ) + + # Initialize Arguments + robot_ip = LaunchConfiguration("robot_ip") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") + initial_joint_controller = LaunchConfiguration("initial_joint_controller") + activate_joint_controller = LaunchConfiguration("activate_joint_controller") + + base_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]), + launch_arguments={ + "ur_type": "ur20", + "robot_ip": robot_ip, + "use_fake_hardware": use_fake_hardware, + "fake_sensor_commands": fake_sensor_commands, + "initial_joint_controller": initial_joint_controller, + "activate_joint_controller": activate_joint_controller, + }.items(), + ) + + return LaunchDescription(declared_arguments + [base_launch]) diff --git a/ur_bringup/launch/ur30.launch.py b/ur_bringup/launch/ur30.launch.py new file mode 100644 index 000000000..7556c85b9 --- /dev/null +++ b/ur_bringup/launch/ur30.launch.py @@ -0,0 +1,102 @@ +# Copyright (c) 2021 PickNik, Inc. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# +# Author: Denis Stogl + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_fake_hardware", + default_value="false", + description="Start robot with fake hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "fake_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_fake_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "initial_joint_controller", + default_value="scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + choices=[ + "scaled_joint_trajectory_controller", + "joint_trajectory_controller", + "forward_velocity_controller", + "forward_position_controller", + ], + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "activate_joint_controller", + default_value="true", + description="Activate loaded joint controller.", + ) + ) + + # Initialize Arguments + robot_ip = LaunchConfiguration("robot_ip") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") + initial_joint_controller = LaunchConfiguration("initial_joint_controller") + activate_joint_controller = LaunchConfiguration("activate_joint_controller") + + base_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]), + launch_arguments={ + "ur_type": "ur30", + "robot_ip": robot_ip, + "use_fake_hardware": use_fake_hardware, + "fake_sensor_commands": fake_sensor_commands, + "initial_joint_controller": initial_joint_controller, + "activate_joint_controller": activate_joint_controller, + }.items(), + ) + + return LaunchDescription(declared_arguments + [base_launch]) diff --git a/ur_bringup/launch/ur_control.launch.py b/ur_bringup/launch/ur_control.launch.py index c5139376e..9258be24a 100644 --- a/ur_bringup/launch/ur_control.launch.py +++ b/ur_bringup/launch/ur_control.launch.py @@ -60,6 +60,7 @@ def generate_launch_description(): "ur10e", "ur12e", "ur16e", + "ur15", "ur20", "ur30", ], diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py index f6bd72d34..bb20be7a8 100644 --- a/ur_moveit_config/launch/ur_moveit.launch.py +++ b/ur_moveit_config/launch/ur_moveit.launch.py @@ -290,6 +290,7 @@ def generate_launch_description(): "ur10e", "ur12e", "ur16e", + "ur15", "ur20", "ur30", ], diff --git a/ur_robot_driver/config/ur15_update_rate.yaml b/ur_robot_driver/config/ur15_update_rate.yaml new file mode 100644 index 000000000..66ef3d736 --- /dev/null +++ b/ur_robot_driver/config/ur15_update_rate.yaml @@ -0,0 +1,3 @@ +controller_manager: + ros__parameters: + update_rate: 500 # Hz diff --git a/ur_robot_driver/doc/usage/startup.rst b/ur_robot_driver/doc/usage/startup.rst index a78ae6fdf..a1fa3f947 100644 --- a/ur_robot_driver/doc/usage/startup.rst +++ b/ur_robot_driver/doc/usage/startup.rst @@ -23,7 +23,7 @@ nodes for UR robots. The only required arguments are the ``ur_type`` and ``robot $ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101 Allowed ``ur_type`` strings: ``ur3``, ``ur3e``, ``ur5``, ``ur5e``, ``ur7e``, ``ur10``, ``ur10e``, -``ur12e``, ``ur16e``, ``ur20``, ``ur30``. +``ur12e``, ``ur16e``, ``ur15``, ``ur20``, ``ur30``. Other important arguments are: diff --git a/ur_robot_driver/launch/ur15.launch.py b/ur_robot_driver/launch/ur15.launch.py new file mode 100644 index 000000000..bd0de84e1 --- /dev/null +++ b/ur_robot_driver/launch/ur15.launch.py @@ -0,0 +1,104 @@ +# Copyright (c) 2021 PickNik, Inc. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# +# Author: Denis Stogl + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "initial_joint_controller", + default_value="scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + choices=[ + "scaled_joint_trajectory_controller", + "joint_trajectory_controller", + "forward_velocity_controller", + "forward_position_controller", + "freedrive_mode_controller", + "passthrough_trajectory_controller", + ], + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "activate_joint_controller", + default_value="true", + description="Activate loaded joint controller.", + ) + ) + + # Initialize Arguments + robot_ip = LaunchConfiguration("robot_ip") + use_mock_hardware = LaunchConfiguration("use_mock_hardware") + mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") + initial_joint_controller = LaunchConfiguration("initial_joint_controller") + activate_joint_controller = LaunchConfiguration("activate_joint_controller") + + base_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]), + launch_arguments={ + "ur_type": "ur15", + "robot_ip": robot_ip, + "use_mock_hardware": use_mock_hardware, + "mock_sensor_commands": mock_sensor_commands, + "initial_joint_controller": initial_joint_controller, + "activate_joint_controller": activate_joint_controller, + }.items(), + ) + + return LaunchDescription(declared_arguments + [base_launch]) diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py index d8f2af710..faf51adac 100644 --- a/ur_robot_driver/launch/ur_control.launch.py +++ b/ur_robot_driver/launch/ur_control.launch.py @@ -408,6 +408,7 @@ def generate_launch_description(): "ur10e", "ur12e", "ur16e", + "ur15", "ur20", "ur30", ], diff --git a/ur_robot_driver/test/test_common.py b/ur_robot_driver/test/test_common.py index 640a7afaf..9d1d79621 100644 --- a/ur_robot_driver/test/test_common.py +++ b/ur_robot_driver/test/test_common.py @@ -313,6 +313,7 @@ def _declare_launch_arguments(): "ur10e", "ur12e", "ur16e", + "ur15", "ur20", "ur30", ],