Overview
This driver collaborates closely with other ROS packages:
ur_calibrationPackage containing the calibration extraction program that will extract parameters for correctly parametrizing the URDF with calibration data from the specific robot.
ur_controllersControllers specifically made for UR manipulators.
ur_dashboard_msgsMessage packages used for the dashboard communication.
ur_moveit_configMoveIt! configuration for a plain robot. This is good as a starting point, but for a real application you would rather create your own MoveIt! configuration package containing your actual robot environment.
ur_description(separate repository)URDF description for UR manipulators
Feature list and roadmap
Feature |
ROS2 Driver |
|---|---|
joint-position-based control |
yes |
scaled joint-position-based control |
yes |
joint-velocity-based control |
yes |
Cartesian position-based control |
no |
Cartesian twist-based control |
no |
Trajectory forwarding for execution on robot |
no |
reporting of tcp wrench |
yes |
pausing of programs |
yes |
continue trajectories after EM-Stop resume |
yes |
continue trajectories after protective stop |
yes |
panel interaction in between possible |
yes |
get and set IO states |
yes |
use tool communication forwarder on e-series |
yes |
use the driver without a teach pendant necessary |
yes |
support of CB1 and CB2 robots |
no |
trajectory extrapolation on robot on missing packages |
yes |
use ROS as drop-in for TP-programs |
yes |
headless mode |
yes |
extract calibration from robot |
yes |
send custom script commands to robot |
no |
Reconnect on a disconnected robot |
yes |