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Merged
merged 3 commits into from
Dec 18, 2023
Merged

Remove ros2_control tag from package (and move it to ur_robot_driver) #114

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2fe4e3a
Remove ros2_control tag from package
Nov 15, 2023
c4a50a8
Add mock components ros2_control example
Nov 15, 2023
059f026
Parametrize urdf tests with all robot models, tf_prefix and mock hard…
Nov 15, 2023
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8 changes: 8 additions & 0 deletions README.md
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Expand Up @@ -81,3 +81,11 @@ parameters file.
As mentioned above, see the `urdf/ur.urdf.xacro` file as an example to integrate a UR robot into
your scene description. Basically, you could create a copy of that file and extend it with the
modifications from your specific scene.

### Using description with ros2_control
The description itself does not contain a `ros2_control` tag. However, the package provides a couple
of helper files to create your own `ros2_control` tag describing the robot's joint control
mechanisms. See the [`urdf/ur_mocked.urdf.xacro`](urdf/ur_mocked.urdf.xacro)
file as an example using [mock
hardware](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html)
to control the robot.
11 changes: 7 additions & 4 deletions test/test_ur_urdf_xacro.py
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Expand Up @@ -32,20 +32,23 @@
import shutil
import subprocess
import tempfile
import pytest

from ament_index_python.packages import get_package_share_directory


def test_ur_urdf_xacro():
@pytest.mark.parametrize(
"ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"]
)
@pytest.mark.parametrize("description_file", ["ur.urdf.xacro", "ur_mocked.urdf.xacro"])
@pytest.mark.parametrize("prefix", ["", "my_ur_"])
def test_ur_urdf_xacro(ur_type, description_file, prefix):
# Initialize Arguments
ur_type = "ur3"
safety_limits = "true"
safety_pos_margin = "0.15"
safety_k_position = "20"
# General Arguments
description_package = "ur_description"
description_file = "ur.urdf.xacro"
prefix = '""'

joint_limit_params = os.path.join(
get_package_share_directory(description_package), "config", ur_type, "joint_limits.yaml"
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128 changes: 128 additions & 0 deletions urdf/inc/ur_joint_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="ur_joint_control_description" params="
tf_prefix
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
">
<joint name="${tf_prefix}shoulder_pan_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}shoulder_lift_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}elbow_joint">
<command_interface name="position">
<param name="min">{-pi}</param>
<param name="max">{pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['elbow_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_1_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_2_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_3_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</xacro:macro>
</robot>
13 changes: 13 additions & 0 deletions urdf/inc/ur_sensors.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ur_sensors" params="tf_prefix">
<sensor name="${tf_prefix}tcp_fts_sensor">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<state_interface name="torque.x"/>
<state_interface name="torque.y"/>
<state_interface name="torque.z"/>
</sensor>
</xacro:macro>
</robot>
30 changes: 30 additions & 0 deletions urdf/ros2_control_mock_hardware.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" />
<xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />

<xacro:macro name="ur_ros2_control" params="
name
tf_prefix
mock_sensor_commands:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
">

<ros2_control name="${name}" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="mock_sensor_commands">${mock_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</hardware>
<xacro:ur_joint_control_description
tf_prefix="${tf_prefix}"
initial_positions="${initial_positions}"
/>

<xacro:ur_sensors
tf_prefix="${tf_prefix}"
/>
</ros2_control>
</xacro:macro>
</robot>
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