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Felix Exner
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Merge pull request UniversalRobots#209 from fmauch/testing_scripts
Add integration tests for automated testing
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‎.github/dockerursim/.vol/default.installation‎

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‎.github/dockerursim/.vol/default.variables‎

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#
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#Thu May 28 16:20:13 BST 2020

‎.github/dockerursim/.vol/programs.UR5‎

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/ursim/programs.UR5

‎.github/dockerursim/Dockerfile‎

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# MIT License
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#
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# Original from https://github.com/ahobsonsayers/DockURSim
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# Copyright (c) 2019 Arran Hobson Sayers
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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FROM lsiobase/guacgui:latest
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# Set Version Information
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ARG BUILD_DATE="15/08/19"
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ARG VERSION="5.8.0.10253"
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LABEL build_version="URSim Version: ${VERSION} Build Date: ${BUILD_DATE}"
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LABEL maintainer="Arran Hobson Sayers"
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LABEL MAINTAINER="Arran Hobson Sayers"
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ENV APPNAME="URSim"
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# Set Timezone
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ARG TZ="Europe/London"
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ENV TZ ${TZ}
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# Setup Environment
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ENV DEBIAN_FRONTEND noninteractive
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# Set Home Directory
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ENV HOME /ursim
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# Set robot model - Can be UR3, UR5 or UR10
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ENV ROBOT_MODEL UR5
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RUN \
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echo "**** Installing Dependencies ****" && \
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apt-get update && \
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apt-get install -qy --no-install-recommends \
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openjdk-8-jre psmisc && \
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# Change java alternatives so we use openjdk8 (required by URSim) not openjdk11 that comes with guacgui
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update-alternatives --install /usr/bin/java java /usr/lib/jvm/java-8-openjdk-amd64/jre/bin/java 10000
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# Setup JAVA_HOME
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ENV JAVA_HOME /usr/lib/jvm/java-8-openjdk-amd64
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RUN \
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echo "**** Downloading URSim ****" && \
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# Make sure we are in the root
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cd / && \
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# Download URSim Linux tar.gz
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curl https://s3-eu-west-1.amazonaws.com/ur-support-site/69987/URSim_Linux-5.8.0.10253.tar.gz -o URSim-Linux.tar.gz && \
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#curl https://s3-eu-west-1.amazonaws.com/ur-support-site/54411/URSim_Linux-5.4.2.76197.tar.gz -o URSim-Linux.tar.gz && \
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# Extract tarball
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tar xvzf URSim-Linux.tar.gz && \
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#Remove the tarball
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rm URSim-Linux.tar.gz && \
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# Rename the URSim folder to jus ursim
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mv /ursim* /ursim
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RUN \
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echo "**** Installing URSim ****" && \
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# cd to ursim folder
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cd /ursim && \
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# Make URControl and all sh files executable
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chmod +x ./*.sh ./URControl && \
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#
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# Stop install of unnecessary packages and install required ones quietly
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sed -i 's|apt-get -y install|apt-get -qy install --no-install-recommends|g' ./install.sh && \
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# Skip xterm command. We dont have a desktop
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sed -i 's|tty -s|(exit 0)|g' install.sh && \
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# Skip Check of Java Version as we have the correct installed and the command will fail
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sed -i 's|needToInstallJava$|(exit 0)|g' install.sh && \
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# Skip install of desktop shortcuts - we dont have a desktop
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sed -i '/for TYPE in UR3 UR5 UR10/,$ d' ./install.sh && \
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# Remove commands that are not relevant on docker as we are root user
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sed -i 's|pkexec ||g' ./install.sh && \
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sed -i 's|sudo ||g' ./install.sh && \
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sed -i 's|sudo ||g' ./ursim-certificate-check.sh && \
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#
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# Install URSim
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./install.sh && \
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#
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echo "Installed URSim"
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RUN \
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echo "**** Clean Up ****" && \
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rm -rf \
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/tmp/* \
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/var/lib/apt/lists/* \
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/var/tmp/*
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# Copy ursim run service script
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COPY ursim /etc/services.d/ursim
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COPY safety.conf.UR5 /ursim/.urcontrol/
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# Expose ports
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# Guacamole web browser viewer
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EXPOSE 8080
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# VNC viewer
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EXPOSE 3389
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# Modbus Port
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EXPOSE 502
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# Interface Ports
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EXPOSE 29999
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EXPOSE 30001-30004
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# Mount Volumes
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VOLUME /ursim
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ENTRYPOINT ["/init"]

‎.github/dockerursim/build_and_run_docker_ursim.sh‎

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#!/bin/bash
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
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docker build ${DIR} -t mydockerursim
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docker volume create dockerursim
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docker run --name="mydockerursim" -d \
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-e ROBOT_MODEL=UR5 \
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-p 8080:8080 \
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-p 29999:29999 \
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-p 30001-30004:30001-30004 \
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-v "${DIR}/.vol":/ursim/programs \
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-v dockursim:/ursim \
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--privileged \
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--cpus=1 \
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mydockerursim

‎.github/dockerursim/safety.conf.UR5‎

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# Beware: This file is auto-generated from PolyScope.
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# NOTE: The SafetyParameters section is protected by a CRC checksum, please use the supplied tool
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## SafetyParameters ##
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[NormalModeSafetyLimits]
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maxTcpSpeed = 1.5
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maxForce = 150.0
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maxElbowSpeed = 1.5
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maxElbowForce = 150.0
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maxStoppingDistance = 0.5
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maxStoppingTime = 0.4
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maxPower = 300.0
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maxMomentum = 25.0
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maxJointSpeed = [3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926]
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minJointPosition = [6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254]
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maxJointPosition = [0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988]
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minJointRevolutions = [-2, -2, -2, -2, -2, -2]
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maxJointRevolutions = [1, 1, 1, 1, 1, 1]
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plane0 = [0.0, 0.0, 0.0, 0.0, 0]
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plane1 = [0.0, 0.0, 0.0, 0.0, 0]
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plane2 = [0.0, 0.0, 0.0, 0.0, 0]
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plane3 = [0.0, 0.0, 0.0, 0.0, 0]
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plane4 = [0.0, 0.0, 0.0, 0.0, 0]
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plane5 = [0.0, 0.0, 0.0, 0.0, 0]
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plane6 = [0.0, 0.0, 0.0, 0.0, 0]
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plane7 = [0.0, 0.0, 0.0, 0.0, 0]
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tcpOrientationVector = [0.0, 0.0, 1.0]
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maximumTcpOrientationDeviation = 6.2831855
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[ReducedModeSafetyLimits]
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maxTcpSpeed = 0.75
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maxForce = 120.0
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maxElbowSpeed = 0.75
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maxElbowForce = 120.0
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maxStoppingDistance = 0.3
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maxStoppingTime = 0.3
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maxPower = 200.0
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maxMomentum = 10.0
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maxJointSpeed = [3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926]
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minJointPosition = [6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254]
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maxJointPosition = [0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988]
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minJointRevolutions = [-2, -2, -2, -2, -2, -2]
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maxJointRevolutions = [1, 1, 1, 1, 1, 1]
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plane0 = [0.0, 0.0, 0.0, 0.0, 0]
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plane1 = [0.0, 0.0, 0.0, 0.0, 0]
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plane2 = [0.0, 0.0, 0.0, 0.0, 0]
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plane3 = [0.0, 0.0, 0.0, 0.0, 0]
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plane4 = [0.0, 0.0, 0.0, 0.0, 0]
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plane5 = [0.0, 0.0, 0.0, 0.0, 0]
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plane6 = [0.0, 0.0, 0.0, 0.0, 0]
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plane7 = [0.0, 0.0, 0.0, 0.0, 0]
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tcpOrientationVector = [0.0, 0.0, 1.0]
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maximumTcpOrientationDeviation = 6.2831855
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[MiscConfiguration]
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teach_pendant = 1
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euromap67 = 0
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[SafetyIOConfiguration]
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emergencyStopInputA = 255
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emergencyStopInputB = 255
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reducedModeInputA = 255
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reducedModeInputB = 255
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safeguardStopResetInputA = 0
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safeguardStopResetInputB = 1
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threePositionEnablingInputA = 255
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threePositionEnablingInputB = 255
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operationalModeInputA = 255
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operationalModeInputB = 255
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systemEmergencyStopOutputA = 255
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systemEmergencyStopOutputB = 255
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robotMovingOutputA = 255
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robotMovingOutputB = 255
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robotNotStoppingOutputA = 255
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robotNotStoppingOutputB = 255
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reducedModeOutputA = 255
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reducedModeOutputB = 255
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notReducedModeOutputA = 255
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notReducedModeOutputB = 255
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[ReducedModeTriggerPlanes]
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plane0 = [0.0, 0.0, 0.0, 0.0, 0]
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plane1 = [0.0, 0.0, 0.0, 0.0, 0]
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plane2 = [0.0, 0.0, 0.0, 0.0, 0]
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plane3 = [0.0, 0.0, 0.0, 0.0, 0]
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plane4 = [0.0, 0.0, 0.0, 0.0, 0]
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plane5 = [0.0, 0.0, 0.0, 0.0, 0]
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plane6 = [0.0, 0.0, 0.0, 0.0, 0]
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plane7 = [0.0, 0.0, 0.0, 0.0, 0]
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[WorkpieceConfiguration]
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toolSpheres = [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]
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toolDirectionInclination = 0.0
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toolDirectionAzimuth = 0.0
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## SafetyParameters ##
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[Checksum]
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safetyParameters = 3478627865
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majorVersion = 5
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minorVersion = 0

‎.github/dockerursim/ursim/run‎

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#!/bin/execlineb -P
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s6-envdir -fn -- /var/run/s6/container_environment
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importas -i ROBOT_MODEL ROBOT_MODEL
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# Redirect stderr to stdout.
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fdmove -c 2 1
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# Wait until openbox is running
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if { s6-svwait -t 10000 -U /var/run/s6/services/openbox/ }
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# Set env
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s6-env DISPLAY=:1
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# Execute URSim
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/ursim/start-ursim.sh ${ROBOT_MODEL}

‎.github/workflows/ci.yml‎

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- ROS_DISTRO: kinetic
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UPSTREAM_WORKSPACE: .ci.rosinstall
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ROS_REPO: main
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DOCKER_RUN_OPTS: --network bridge
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 172.17.0.2'
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IMMEDIATE_TEST_OUTPUT: true
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- ROS_DISTRO: melodic
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UPSTREAM_WORKSPACE: .ci.rosinstall
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ROS_REPO: main
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DOCKER_RUN_OPTS: --network bridge
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 172.17.0.2'
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IMMEDIATE_TEST_OUTPUT: true
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steps:
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- uses: actions/checkout@v1
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- name: start ursim
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run: |
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.github/dockerursim/build_and_run_docker_ursim.sh
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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‎ur_robot_driver/CMakeLists.txt‎

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target_link_libraries(robot_state_helper ${catkin_LIBRARIES} ur_robot_driver)
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add_dependencies(robot_state_helper ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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add_rostest(test/driver.test)
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catkin_add_gtest(test_rtde_client
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test/test_rtde_client.cpp
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WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
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target_link_libraries(test_rtde_client ${catkin_LIBRARIES} ur_robot_driver)
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endif()
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install(TARGETS ur_robot_driver ur_robot_driver_plugin ur_robot_driver_node robot_state_helper dashboard_client
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

‎ur_robot_driver/include/ur_robot_driver/rtde/rtde_writer.h‎

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* \param recipe The recipe to use for communication
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*/
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RTDEWriter(comm::URStream<RTDEPackage>* stream, const std::vector<std::string>& recipe);
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~RTDEWriter() = default;
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~RTDEWriter()
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{
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running_ = false;
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std::this_thread::sleep_for(std::chrono::seconds(5));
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if (writer_thread_.joinable())
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{
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writer_thread_.join();
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}
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}
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/*!
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* \brief Starts the writer thread, which periodically clears the queue to write packages to the
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* robot.
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uint8_t recipe_id_;
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moodycamel::BlockingReaderWriterQueue<std::unique_ptr<DataPackage>> queue_;
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std::thread writer_thread_;
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bool running_;
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};
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} // namespace rtde_interface

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