'reverse_port' and 'script_sender_port' parameters (#57)

Adds parameters for reverse_port and script_sender_port.

This was implemented by @khssnv Thanks!

Author: khssnv

ur_robot_driver/doc/ROS_INTERFACE.md

@@ -32,6 +32,10 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur3e_upload.launch")
 
     Robot description launch file.
@@ -40,6 +44,10 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n
 
     IP address by which the robot can be reached.
 
+ * "**script_sender_port**" (default: "50002")
+
+    The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -113,6 +121,10 @@ Standalone launchfile to startup a ur10 robot. This requires a robot reachable v
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_description)/launch/ur10_upload.launch")
 
     Robot description launch file.
@@ -121,6 +133,10 @@ Standalone launchfile to startup a ur10 robot. This requires a robot reachable v
 
     IP address by which the robot can be reached.
 
+ * "**script_sender_port**" (default: "50002")
+
+    The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -158,6 +174,10 @@ Robot bringup launchfile without the robot description. Include this, if you wan
 
     Please add description. See file "launch/ur_control.launch".
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_ip**" (Required)
 
     IP address by which the robot can be reached.
@@ -170,6 +190,10 @@ Robot bringup launchfile without the robot description. Include this, if you wan
 
     Recipe file used for the RTDE-outputs. Only change this if you know what you're doing.
 
+ * "**script_sender_port**" (default: "50002")
+
+    The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -247,6 +271,10 @@ Launchfile that starts a robot description with robot_state publisher and the dr
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (Required)
 
     Robot description launch file.
@@ -255,6 +283,10 @@ Launchfile that starts a robot description with robot_state publisher and the dr
 
     IP address by which the robot can be reached.
 
+ * "**script_sender_port**" (default: "50002")
+
+    The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -328,6 +360,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_description)/launch/ur5_upload.launch")
 
     Robot description launch file.
@@ -336,6 +372,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
     IP address by which the robot can be reached.
 
+ * "**script_sender_port**" (default: "50002")
+
+    The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -373,6 +413,10 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur5e_upload.launch")
 
     Robot description launch file.
@@ -381,6 +425,10 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v
 
     IP address by which the robot can be reached.
 
+ * "**script_sender_port**" (default: "50002")
+
+    The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -454,6 +502,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_description)/launch/ur3_upload.launch")
 
     Robot description launch file.
@@ -462,6 +514,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
     IP address by which the robot can be reached.
 
+ * "**script_sender_port**" (default: "50002")
+
+    The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -499,6 +555,10 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur10e_upload.launch")
 
     Robot description launch file.
@@ -507,6 +567,10 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable
 
     IP address by which the robot can be reached.
 
+ * "**script_sender_port**" (default: "50002")
+
+    The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -702,6 +766,10 @@ This is the actual driver node containing the ROS-Control stack. Interfaces docu
 
     Path to the file containing the recipe used for requesting RTDE outputs.
 
+ * "**reverse_port**" (Required)
+
+    Port that will be opened to communicate between the driver and the robot controller.
+
  * "**robot_ip**" (Required)
 
     The robot's IP address.
@@ -710,9 +778,13 @@ This is the actual driver node containing the ROS-Control stack. Interfaces docu
 
     Path to the urscript code that will be sent to the robot.
 
+ * "**script_sender_port**" (Required)
+
+    The driver will offer an interface to receive the program's URScript on this port.
+
  * "**tf_prefix**" (default: "")
 
-    Please add description. See hardware_interface.cpp line number: 68
+    Please add description. See hardware_interface.cpp line number: 74
 
 
 

ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h

@@ -58,10 +58,15 @@ class UrDriver
    * \param tool_comm_setup Configuration for using the tool communication.
    * \param calibration_checksum Expected checksum of calibration. Will be matched against the
    * calibration reported by the robot.
+   * \param reverse_port Port that will be opened by the driver to allow direct communication between the driver
+   * and the robot controller.
+   * \param script_sending_port The driver will offer an interface to receive the program's URScript on this port. If
+   * the robot cannot connect to this port, `External Control` will stop immediately.
    */
   UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
            const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
-           std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum = "");
+           std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum = "",
+           const uint32_t reverse_port = 50001, const uint32_t script_sender_port = 50002);
   /*!
    * \brief Constructs a new UrDriver object.
    *
@@ -73,12 +78,17 @@ class UrDriver
    * \param headless_mode Parameter to control if the driver should be started in headless mode.
    * \param calibration_checksum Expected checksum of calibration. Will be matched against the
    * calibration reported by the robot.
+   * \param reverse_port Port that will be opened by the driver to allow direct communication between the driver
+   * and the robot controller
+   * \param script_sending_port The driver will offer an interface to receive the program's URScript on this port.
+   * If the robot cannot connect to this port, `External Control` will stop immediately.
    */
   UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
            const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
-           const std::string& calibration_checksum = "")
+           const std::string& calibration_checksum = "", const uint32_t reverse_port = 50001,
+           const uint32_t script_sender_port = 50002)
     : UrDriver(robot_ip, script_file, output_recipe_file, input_recipe_file, handle_program_state, headless_mode,
-               std::unique_ptr<ToolCommSetup>{}, calibration_checksum)
+               std::unique_ptr<ToolCommSetup>{}, calibration_checksum, reverse_port, script_sender_port)
   {
   }
 

ur_robot_driver/launch/ur10_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
+  <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -17,6 +19,8 @@
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>

ur_robot_driver/launch/ur10e_bringup.launch

@@ -3,6 +3,8 @@
 
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
+  <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -28,6 +30,8 @@
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>

ur_robot_driver/launch/ur3_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
+  <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -17,6 +19,8 @@
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>

ur_robot_driver/launch/ur3e_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
+  <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -27,6 +29,8 @@
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>

ur_robot_driver/launch/ur5_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
+  <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -17,6 +19,8 @@
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>

ur_robot_driver/launch/ur5e_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
+  <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -27,6 +29,8 @@
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>