ur_robot_driver

Contents:

• Overview
  • Feature list and roadmap
• Installation
  • Installation of the ur_robot_driver
  • Setting up a UR robot for ur_robot_driver
• Usage
  • Startup the driver
  • Move the robot
  • Controllers
  • Simulation
  • Sending URScript code to the robot
  • Quick start
  • Robot frames
  • Troubleshooting
• Operation modes
  • Robot’s control modes
  • Driver’s operation modes
• Setting up the tool communication on an e-Series robot
  • Robot setup
  • Setup the ROS side
• UR Hardware interface
  • Supported control modes
  • Interacting with the hardware interface
• UR Hardware interface parameters
  • headless_mode
  • input_recipe_filename (Required)
  • kinematics/hash (Required)
  • non_blocking_read (default: “true”)
  • output_recipe_filename (Required)
  • reverse_port (Required)
  • robot_ip (Required)
  • script_filename (Required)
  • script_sender_port (Required)
  • servoj_gain (Required)
  • servoj_lookahead_time (Required)
  • tool_baud_rate (Required)
  • tool_parity (Required)
  • tool_rx_idle_chars (Required)
  • tool_stop_bits (Required)
  • tool_tx_idle_chars (Required)
  • tool_voltage (Required)
  • use_tool_communication (Required)
• Dashboard client
  • Advertised Services
  • Parameters
• Robot state helper
• Controller stopper
  • Parameters
• Trajectory until node
  • Action interface / usage
  • Implementation details