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Add support for UR8 Long #763

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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -209,7 +209,7 @@ To actually start the robot driver use one of the existing launch files

$ roslaunch ur_robot_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101

where **<robot_type>** is one of *ur3, ur5, ur10, ur3e, ur5e, ur7e, ur10e, ur12e, ur16e, ur15, ur20, ur30*. Note that in this example we
where **<robot_type>** is one of *ur3, ur5, ur10, ur3e, ur5e, ur7e, ur10e, ur12e, ur16e, ur8long, ur15, ur20, ur30*. Note that in this example we
load the calibration parameters for the robot "ur10_example".

If you calibrated your robot before, pass that calibration to the launch file:
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166 changes: 166 additions & 0 deletions ur_robot_driver/config/ur8long_controllers.yaml
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# Settings for ros_control control loop
hardware_control_loop:
loop_hz: &loop_hz 500

# Settings for ros_control hardware interface
ur_hardware_interface:
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint

# Publish all joint states ----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: *loop_hz

# Publish wrench ----------------------------------
force_torque_sensor_controller:
type: force_torque_sensor_controller/ForceTorqueSensorController
publish_rate: *loop_hz

# Publish speed_scaling factor
speed_scaling_state_controller:
type: scaled_controllers/SpeedScalingStateController
publish_rate: *loop_hz

# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
scaled_pos_joint_traj_controller:
type: position_controllers/ScaledJointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
elbow_joint: {trajectory: 0.2, goal: 0.1}
wrist_1_joint: {trajectory: 0.2, goal: 0.1}
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 20

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
elbow_joint: {trajectory: 0.2, goal: 0.1}
wrist_1_joint: {trajectory: 0.2, goal: 0.1}
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 20

scaled_vel_joint_traj_controller:
type: velocity_controllers/ScaledJointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
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}
gains:
#!!These values have not been optimized!!
shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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
shoulder_lift_joint: 1.0
elbow_joint: 1.0
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

vel_joint_traj_controller:
type: velocity_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
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}
gains:
#!!These values have not been optimized!!
shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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
shoulder_lift_joint: 1.0
elbow_joint: 1.0
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

# Pass an array of joint velocities directly to the joints
joint_group_vel_controller:
type: velocity_controllers/JointGroupVelocityController
joints: *robot_joints

forward_joint_traj_controller:
type: "pass_through_controllers/JointTrajectoryController"
joints: *robot_joints

forward_cartesian_traj_controller:
type: "pass_through_controllers/CartesianTrajectoryController"
joints: *robot_joints

twist_controller:
type: "ros_controllers_cartesian/TwistController"
frame_id: "tool0_controller"
publish_rate: *loop_hz
joints: *robot_joints

pose_based_cartesian_traj_controller:
type: pose_controllers/CartesianTrajectoryController

# UR driver convention
base: base
tip: tool0_controller
joints: *robot_joints

joint_based_cartesian_traj_controller:
type: position_controllers/CartesianTrajectoryController

# UR driver convention
base: base
tip: tool0
joints: *robot_joints

robot_status_controller:
type: industrial_robot_status_controller/IndustrialRobotStatusController
handle_name: industrial_robot_status_handle
publish_rate: 10
30 changes: 30 additions & 0 deletions ur_robot_driver/launch/ur8long_bringup.launch
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<?xml version="1.0"?>
<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_ip" default="" doc="IP of the driver, if set to empty it will detect it automatically."/>
<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="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
<arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur8long_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_description)/launch/load_ur8long.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur8long/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
<arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
<arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>

<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
</launch>