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ShahhhVihaanurfeex
ShahhhVihaan
and
urfeex
authored
Dual arm tutorial for ROS2 (#3)
* Extend single arm description to dual arm --------- Co-authored-by: Felix Exner <feex@universal-robots.com>
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‎my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(my_dual_robot_cell_control)
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY launch config urdf
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()

‎my_dual_robot_cell/my_dual_robot_cell_control/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2025, Universal Robots A/S
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All rights reserved.
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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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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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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
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml‎

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kinematics:
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shoulder:
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x: 0
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y: 0
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z: 0.15185
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roll: 0
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pitch: 0
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yaw: 0
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upper_arm:
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x: 0
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y: 0
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z: 0
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roll: 1.570796327
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pitch: 0
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yaw: 0
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forearm:
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x: -0.24355
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y: 0
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z: 0
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roll: 0
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pitch: 0
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yaw: 0
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wrist_1:
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x: -0.2132
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y: 0
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z: 0.13105
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roll: 0
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pitch: 0
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yaw: 0
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wrist_2:
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x: 0
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y: -0.08535
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z: -1.750557762378351e-11
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roll: 1.570796327
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pitch: 0
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yaw: 0
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wrist_3:
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x: 0
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y: 0.0921
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z: -1.8890025766262e-11
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roll: 1.570796326589793
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pitch: 3.141592653589793
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yaw: 3.141592653589793
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hash: calib_16756443741236045476

‎my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml‎

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kinematics:
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shoulder:
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x: 0
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y: 0
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z: 0.1625
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roll: 0
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pitch: 0
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yaw: 0
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upper_arm:
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x: 0
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y: 0
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z: 0
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roll: 1.570796327
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pitch: 0
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yaw: 0
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forearm:
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x: -0.425
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y: 0
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z: 0
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roll: 0
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pitch: 0
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yaw: 0
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wrist_1:
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x: -0.3922
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y: 0
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z: 0.1333
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roll: 0
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pitch: 0
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yaw: 0
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wrist_2:
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x: 0
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y: -0.0997
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z: -2.044881182297852e-11
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roll: 1.570796327
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pitch: 0
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yaw: 0
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wrist_3:
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x: 0
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y: 0.09959999999999999
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z: -2.042830148012698e-11
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roll: 1.570796326589793
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pitch: 3.141592653589793
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yaw: 3.141592653589793
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hash: calib_12788084448423163542

‎my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml‎

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controller_manager:
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ros__parameters:
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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alice_io_and_status_controller:
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type: ur_controllers/GPIOController
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bob_io_and_status_controller:
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type: ur_controllers/GPIOController
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alice_speed_scaling_state_broadcaster:
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type: ur_controllers/SpeedScalingStateBroadcaster
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bob_speed_scaling_state_broadcaster:
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type: ur_controllers/SpeedScalingStateBroadcaster
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alice_force_torque_sensor_broadcaster:
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type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
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bob_force_torque_sensor_broadcaster:
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type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
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alice_joint_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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bob_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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alice_scaled_joint_trajectory_controller:
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type: ur_controllers/ScaledJointTrajectoryController
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bob_scaled_joint_trajectory_controller:
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type: ur_controllers/ScaledJointTrajectoryController
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forward_velocity_controller:
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type: velocity_controllers/JointGroupVelocityController
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alice_forward_position_controller:
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type: position_controllers/JointGroupPositionController
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bob_forward_position_controller:
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type: position_controllers/JointGroupPositionController
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alice_speed_scaling_state_broadcaster:
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ros__parameters:
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state_publish_rate: 100.0
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tf_prefix: "alice_"
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bob_speed_scaling_state_broadcaster:
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ros__parameters:
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state_publish_rate: 100.0
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tf_prefix: "bob_"
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alice_io_and_status_controller:
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ros__parameters:
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tf_prefix: "alice_"
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bob_io_and_status_controller:
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ros__parameters:
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tf_prefix: "bob_"
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alice_force_torque_sensor_broadcaster:
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ros__parameters:
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sensor_name: alice_tcp_fts_sensor
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state_interface_names:
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- force.x
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- force.y
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- force.z
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- torque.x
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- torque.y
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- torque.z
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frame_id: bob_tool0
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topic_name: alice_ft_data
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bob_force_torque_sensor_broadcaster:
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ros__parameters:
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sensor_name: bob_tcp_fts_sensor
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state_interface_names:
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- force.x
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- force.y
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- force.z
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- torque.x
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- torque.y
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- torque.z
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frame_id: bob_tool0
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topic_name: bob_ft_data
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alice_joint_trajectory_controller:
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ros__parameters:
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joints:
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- alice_shoulder_pan_joint
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- alice_shoulder_lift_joint
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- alice_elbow_joint
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- alice_wrist_1_joint
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- alice_wrist_2_joint
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- alice_wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 100.0
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action_monitor_rate: 20.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.2
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goal_time: 0.0
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alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
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alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
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alice_elbow_joint: { trajectory: 0.2, goal: 0.1 }
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alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
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alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
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alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
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bob_joint_trajectory_controller:
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ros__parameters:
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joints:
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- bob_shoulder_pan_joint
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- bob_shoulder_lift_joint
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- bob_elbow_joint
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- bob_wrist_1_joint
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- bob_wrist_2_joint
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- bob_wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 100.0
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action_monitor_rate: 20.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.2
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goal_time: 0.0
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bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
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bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
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bob_elbow_joint: { trajectory: 0.2, goal: 0.1 }
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bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
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bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
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bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
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alice_scaled_joint_trajectory_controller:
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ros__parameters:
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joints:
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- alice_shoulder_pan_joint
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- alice_shoulder_lift_joint
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- alice_elbow_joint
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- alice_wrist_1_joint
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- alice_wrist_2_joint
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- alice_wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 100.0
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action_monitor_rate: 20.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.2
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goal_time: 0.0
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alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
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alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
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alice_elbow_joint: { trajectory: 0.2, goal: 0.1 }
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alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
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alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
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alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
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speed_scaling_interface_name: alice_speed_scaling/speed_scaling_factor
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bob_scaled_joint_trajectory_controller:
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ros__parameters:
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joints:
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- bob_shoulder_pan_joint
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- bob_shoulder_lift_joint
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- bob_elbow_joint
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- bob_wrist_1_joint
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- bob_wrist_2_joint
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- bob_wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 100.0
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action_monitor_rate: 20.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.2
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goal_time: 0.0
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bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
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bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
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bob_elbow_joint: { trajectory: 0.2, goal: 0.1 }
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bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
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bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
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bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
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speed_scaling_interface_name: bob_speed_scaling/speed_scaling_factor
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alice_forward_velocity_controller:
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ros__parameters:
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joints:
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- alice_shoulder_pan_joint
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- alice_shoulder_lift_joint
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- alice_elbow_joint
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- alice_wrist_1_joint
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- alice_wrist_2_joint
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- alice_wrist_3_joint
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interface_name: velocity
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bob_forward_velocity_controller:
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ros__parameters:
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joints:
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- bob_shoulder_pan_joint
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- bob_shoulder_lift_joint
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- bob_elbow_joint
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- bob_wrist_1_joint
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- bob_wrist_2_joint
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- bob_wrist_3_joint
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interface_name: velocity
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alice_forward_position_controller:
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ros__parameters:
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joints:
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- alice_shoulder_pan_joint
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- alice_shoulder_lift_joint
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- alice_elbow_joint
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- alice_wrist_1_joint
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- alice_wrist_2_joint
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- alice_wrist_3_joint
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bob_forward_position_controller:
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ros__parameters:
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joints:
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- bob_shoulder_pan_joint
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- bob_shoulder_lift_joint
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- bob_elbow_joint
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- bob_wrist_1_joint
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- bob_wrist_2_joint
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- bob_wrist_3_joint

‎my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml‎

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controller_manager:
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ros__parameters:
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update_rate: 500 # Hz

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