Resources about the ROS 2 Universal Robot driver
The files in this folder are available for use under BSD-3-Clause license.
Diagrams and images
ros2_control diagrams -
.drawiofile, Author: Dr.-Ing. Denis Stogl (PickNik Robotics)
2021-10 ROS World presentation
Presentation: Making a robot ROS 2 powered - a case study using the UR manipulators
Summary:
With the release of ros2_control and MoveIt 2, ROS 2 Foxy finally has all the “ingredients” needed to power a robot with similar features as in ROS 1. We present the driver for Universal Robot’s manipulators as a real-world example of how robots can be run using ROS 2. We show how to realize multi-interface support for position and velocity commands in the driver and how to support scaling controllers while respecting factors set on the teach pendant. Finally, we show how this real-world example influences development of ros2_control to support non-joint related inputs and outputs in its real-time control loop.
Presenter: Dr.-Ing. Denis Štogl
Authors:
Dr.-Ing. Denis Štogl (PickNik Inc.)
Dr. Nathan Brooks (PickNik Inc.)
Lovro Ivanov (PickNik Inc.)
Dr. Andy Zelenak (PickNik Inc.)
Rune Søe-Knudsen (Universal Robots A/S)
[Video] Presentation recording
[Video] MoveIt2 Demo
This video shows free-space trajectory planning around a modeled collision scene object using the MoveIt2 MotionPlanning widget for Rviz2.
[Video] Scaled Joint Trajectory Controller Demo
This video demonstrates the following features:
[0:00] - Previewing a plan with MoveIt2 MotionPlanning widget for Rviz2
[0:05] - Executing a plan with MoveIt2 MotionPlanning widget for Rviz2
[0:09] - Pendant speed scaling of a simulated MoveIt trajectory
[0:18] - Pendant speed scaling of an executed MoveIt trajectory
[0:22] - Online pendant speed scaling during trajectory execution
[0:26] - Resuming trajectory execution from E-stop