Humble

README.md

@@ -3,8 +3,7 @@ This package contains tutorials around the ROS 2 packages for Universal Robots.
 
 ## Getting started
 To use the tutorials from this repository, please make sure to [install ROS
-2](https://docs.ros.org/en/rolling/Installation.html) on your system. Currently, only ROS Jazzy and
-Rolling are supported.
+2](https://docs.ros.org/en/humble/Installation.html) on your system.
 
 With that, please create a workspace, clone this repo into the workspace, install the dependencies
 and build the workspace.

my_robot_cell/my_robot_cell_control/CMakeLists.txt

@@ -2,9 +2,10 @@ cmake_minimum_required(VERSION 3.8)
 project(my_robot_cell_control)
 
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
 
 install(
-  DIRECTORY launch config urdf
+  DIRECTORY launch config urdf rviz
   DESTINATION share/${PROJECT_NAME}
 )
 

my_robot_cell/my_robot_cell_control/config/ros2_controllers.yaml

@@ -21,6 +21,12 @@ controller_manager:
     forward_position_controller:
       type: position_controllers/JointGroupPositionController
 
+    ur_configuration_controller:
+      type: ur_controllers/URConfigurationController
+
+ur_configuration_controller:
+  ros__parameters:
+    tf_prefix: "ur20_"
 
 speed_scaling_state_broadcaster:
   ros__parameters:

my_robot_cell/my_robot_cell_control/config/ur20/default_kinematics.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.23630000000000001
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.86199999999999999
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.72870000000000001
+    y: 0
+    z: 0.20100000000000001
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.1593
+    z: -3.2672976162492252e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.15429999999999999
+    z: -3.1647459019915597e-11
+    roll: 1.5707963265897931
+    pitch: 3.1415926535897931
+    yaw: 3.1415926535897931
+  hash: calib_4890363623803256388

my_robot_cell/my_robot_cell_control/config/ur20/joint_limits.yaml

@@ -0,0 +1,77 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR20, Version 5.14
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/203281/706-276-00_UR20_User_Manual_en_Global.pdf
+joint_limits:
+  shoulder_pan_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 738.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
+  shoulder_lift_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 738.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 433.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: !degrees  180.0
+    max_velocity: !degrees  150.0
+    min_position: !degrees -180.0
+  wrist_1_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 107.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0
+  wrist_2_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 107.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0
+  wrist_3_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 107.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0

my_robot_cell/my_robot_cell_control/config/ur20/physical_parameters.yaml

@@ -0,0 +1,122 @@
+# Physical parameters
+
+offsets:
+  shoulder_offset: 0.260 # measured from model
+  elbow_offset: 0.043 # measured from model
+
+inertia_parameters:
+  # taken from https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
+  base_mass: 4.0  # This mass might be incorrect
+  shoulder_mass: 16.343
+  upper_arm_mass: 29.632
+  forearm_mass: 7.879
+  wrist_1_mass: 3.054
+  wrist_2_mass: 3.126
+  wrist_3_mass: 0.926
+
+  shoulder_radius: x0.060   # FROM UR5 CURRENTLY NOT USED ANYMORE
+  upper_arm_radius: x0.054  # FROM UR5 CURRENTLY NOT USED ANYMORE
+  elbow_radius: x0.060      # FROM UR5 CURRENTLY NOT USED ANYMORE
+  forearm_radius: x0.040    # FROM UR5 CURRENTLY NOT USED ANYMORE
+  wrist_radius: x0.045      # FROM UR5 CURRENTLY NOT USED ANYMORE
+
+  links:
+    base:
+      radius: 0.075
+      length: 0.038
+
+  center_of_mass:
+    shoulder_cog:
+      x: 0.0 # model.x
+      y: -0.0062 # -model.z
+      z: -0.061 # model.y
+    upper_arm_cog:
+      x: -0.3394 # model.x - upperarm_length
+      y: 0.0 # model.y
+      z: 0.2098 # model.z
+    forearm_cog:
+      x: -0.4053 # model.x - forearm_length
+      y: 0.0 # model.y
+      z: 0.0604 # model.z
+    wrist_1_cog:
+      x: 0.0 # model.x
+      y: -0.0393 # -model.z
+      z: -0.0026 # model.y
+    wrist_2_cog:
+      x: 0.0 # model.x
+      y: 0.0379 # model.z
+      z: -0.0024 # -model.y
+    wrist_3_cog:
+      x: 0.0 # model.x
+      y: 0.0 # model.y
+      z: -0.0293 # model.z
+
+  rotation:
+    shoulder:
+      roll: 1.570796326794897
+      pitch: 0
+      yaw: 0
+    upper_arm:
+      roll: 0
+      pitch: 0
+      yaw: 0
+    forearm:
+      roll: 0
+      pitch: 0
+      yaw: 0
+    wrist_1:
+      roll: 1.570796326794897
+      pitch: 0
+      yaw: 0
+    wrist_2:
+      roll: -1.570796326794897
+      pitch: 0
+      yaw: 0
+    wrist_3:
+      roll: 0
+      pitch: 0
+      yaw: 0
+
+  tensor:
+    shoulder:
+      ixx: 0.08866
+      ixy: -0.00011
+      ixz: -0.00011
+      iyy: 0.07632
+      iyz: 0.00720
+      izz: 0.08418
+    upper_arm:
+      ixx: 0.14670
+      ixy: 0.00019
+      ixz: -0.05163
+      iyy: 4.66590
+      iyz: 0.00004
+      izz: 4.63480
+    forearm:
+      ixx: 0.02612
+      ixy: -0.00005
+      ixz: -0.02898
+      iyy: 0.75763
+      iyz: -0.00001
+      izz: 0.75327
+    wrist_1:
+      ixx: 0.00555
+      ixy: -0.00001
+      ixz: -0.00002
+      iyy: 0.00537
+      iyz: 0.00036
+      izz: 0.00402
+    wrist_2:
+      ixx: 0.00586
+      ixy: -0.00001
+      ixz: -0.00002
+      iyy: 0.00578
+      iyz: -0.00037
+      izz: 0.00427
+    wrist_3:
+      ixx: 0.00092
+      ixy: 0.0
+      ixz: 0.0
+      iyy: 0.00091
+      iyz: 0.0
+      izz: 0.00117

my_robot_cell/my_robot_cell_control/config/ur20/visual_parameters.yaml

@@ -0,0 +1,97 @@
+# Visualisation
+
+mesh_files:
+  base:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/base.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/base.stl
+
+  shoulder:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/shoulder.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/shoulder.stl
+
+  upper_arm:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/upperarm.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/upperarm.stl
+      mesh_files:
+
+  forearm:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/forearm.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/forearm.stl
+
+  wrist_1:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/wrist1.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/wrist1.stl
+    visual_offset: -0.0775
+
+  wrist_2:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/wrist2.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/wrist2.stl
+    visual_offset: -0.0749
+
+  wrist_3:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/wrist3.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/wrist3.stl
+    visual_offset: -0.07