Merge remote-tracking branch 'origin/master' into testing_scripts

Author: Felix Exner

README.md

@@ -121,7 +121,7 @@ $ source devel/setup.bash
 ## Setting up a UR robot for ur_robot_driver
 ### Prepare the robot
 For using the *ur_robot_driver* with a real robot you need to install the
-**externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver.
+**externalcontrol-1.0.2.urcap** which can be found inside the **resources** folder of this driver.
 
 **Note**: For installing this URCap a minimal PolyScope version of 3.7 or 5.1 (in case of e-Series) is
 necessary.
@@ -190,7 +190,7 @@ Inside the ROS terminal running the driver you should see the output `Robot read
 To control the robot using ROS, use the action server on
 
 ```bash
-/scaled_pos_traj_controller/follow_joint_trajectory
+/scaled_pos_joint_traj_controller/follow_joint_trajectory
 ```
 
 Use this with any client interface such as [MoveIt!](https://moveit.ros.org/) or simply the

ur_robot_driver/config/ur10_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -43,9 +43,9 @@ scaled_pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -59,9 +59,9 @@ pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -73,9 +73,6 @@ scaled_vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -84,7 +81,6 @@ scaled_vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -93,12 +89,11 @@ scaled_vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
-
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -110,9 +105,6 @@ vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -121,7 +113,6 @@ vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -130,10 +121,9 @@ vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 # Pass an array of joint velocities directly to the joints
 joint_group_vel_controller:

ur_robot_driver/config/ur10e_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -43,9 +43,9 @@ scaled_pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -59,9 +59,9 @@ pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -73,9 +73,6 @@ scaled_vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -84,7 +81,6 @@ scaled_vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -93,12 +89,11 @@ scaled_vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
-
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -110,9 +105,6 @@ vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -121,7 +113,6 @@ vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -130,10 +121,9 @@ vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 # Pass an array of joint velocities directly to the joints
 joint_group_vel_controller:

ur_robot_driver/config/ur3_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -43,9 +43,9 @@ scaled_pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -59,10 +59,9 @@ pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
-
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -74,9 +73,6 @@ scaled_vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -85,7 +81,6 @@ scaled_vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -94,12 +89,11 @@ scaled_vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
-
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -111,9 +105,6 @@ vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -122,7 +113,6 @@ vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -131,10 +121,9 @@ vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 # Pass an array of joint velocities directly to the joints
 joint_group_vel_controller: