diff --git a/README.md b/README.md index 9ce977bcf..5157db806 100644 --- a/README.md +++ b/README.md @@ -124,7 +124,7 @@ For getting started, you'll basically need three steps: details. ```bash - # Replace ur5e with one of ur3, ur5, ur10, ur3e, ur5e, ur7e, ur10e, ur12e, ur16e, ur8long, ur15, ur20, ur30 + # Replace ur5e with one of ur3, ur5, ur10, ur3e, ur5e, ur7e, ur10e, ur12e, ur16e, ur8long, ur15, ur18, ur20, ur30 # Replace the IP address with the IP address of your actual robot / URSim ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101 ``` diff --git a/ur_bringup/config/ur18_update_rate.yaml b/ur_bringup/config/ur18_update_rate.yaml new file mode 100644 index 000000000..66ef3d736 --- /dev/null +++ b/ur_bringup/config/ur18_update_rate.yaml @@ -0,0 +1,3 @@ +controller_manager: + ros__parameters: + update_rate: 500 # Hz diff --git a/ur_bringup/launch/ur18.launch.py b/ur_bringup/launch/ur18.launch.py new file mode 100644 index 000000000..2b804bc77 --- /dev/null +++ b/ur_bringup/launch/ur18.launch.py @@ -0,0 +1,102 @@ +# Copyright (c) 2021 PickNik, Inc. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# +# Author: Denis Stogl + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_fake_hardware", + default_value="false", + description="Start robot with fake hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "fake_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_fake_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "initial_joint_controller", + default_value="scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + choices=[ + "scaled_joint_trajectory_controller", + "joint_trajectory_controller", + "forward_velocity_controller", + "forward_position_controller", + ], + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "activate_joint_controller", + default_value="true", + description="Activate loaded joint controller.", + ) + ) + + # Initialize Arguments + robot_ip = LaunchConfiguration("robot_ip") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") + initial_joint_controller = LaunchConfiguration("initial_joint_controller") + activate_joint_controller = LaunchConfiguration("activate_joint_controller") + + base_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]), + launch_arguments={ + "ur_type": "ur18", + "robot_ip": robot_ip, + "use_fake_hardware": use_fake_hardware, + "fake_sensor_commands": fake_sensor_commands, + "initial_joint_controller": initial_joint_controller, + "activate_joint_controller": activate_joint_controller, + }.items(), + ) + + return LaunchDescription(declared_arguments + [base_launch]) diff --git a/ur_bringup/launch/ur_control.launch.py b/ur_bringup/launch/ur_control.launch.py index 90a5f57a3..5af282305 100644 --- a/ur_bringup/launch/ur_control.launch.py +++ b/ur_bringup/launch/ur_control.launch.py @@ -62,6 +62,7 @@ def generate_launch_description(): "ur16e", "ur8long", "ur15", + "ur18", "ur20", "ur30", ], diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py index fe4447a77..af4d94c29 100644 --- a/ur_moveit_config/launch/ur_moveit.launch.py +++ b/ur_moveit_config/launch/ur_moveit.launch.py @@ -295,6 +295,7 @@ def generate_launch_description(): "ur16e", "ur8long", "ur15", + "ur18", "ur20", "ur30", ], diff --git a/ur_robot_driver/config/ur18_update_rate.yaml b/ur_robot_driver/config/ur18_update_rate.yaml new file mode 100644 index 000000000..66ef3d736 --- /dev/null +++ b/ur_robot_driver/config/ur18_update_rate.yaml @@ -0,0 +1,3 @@ +controller_manager: + ros__parameters: + update_rate: 500 # Hz diff --git a/ur_robot_driver/doc/usage/startup.rst b/ur_robot_driver/doc/usage/startup.rst index f8c2024ab..fb16578f9 100644 --- a/ur_robot_driver/doc/usage/startup.rst +++ b/ur_robot_driver/doc/usage/startup.rst @@ -23,7 +23,7 @@ nodes for UR robots. The only required arguments are the ``ur_type`` and ``robot $ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101 Allowed ``ur_type`` strings: ``ur3``, ``ur5``, ``ur10``, ``ur3e``, ``ur5e``, ``ur7e``, ``ur10e``, -``ur12e``, ``ur16e``, ``ur8long``, ``ur15``, ``ur20``, ``ur30``. +``ur12e``, ``ur16e``, ``ur8long``, ``ur15``, ``ur18``, ``ur20``, ``ur30``. Other important arguments are: diff --git a/ur_robot_driver/launch/ur18.launch.py b/ur_robot_driver/launch/ur18.launch.py new file mode 100644 index 000000000..abd444d68 --- /dev/null +++ b/ur_robot_driver/launch/ur18.launch.py @@ -0,0 +1,101 @@ +# Copyright (c) 2025 Universal Robots A/S +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "initial_joint_controller", + default_value="scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + choices=[ + "scaled_joint_trajectory_controller", + "joint_trajectory_controller", + "forward_velocity_controller", + "forward_position_controller", + "freedrive_mode_controller", + "passthrough_trajectory_controller", + ], + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "activate_joint_controller", + default_value="true", + description="Activate loaded joint controller.", + ) + ) + + # Initialize Arguments + robot_ip = LaunchConfiguration("robot_ip") + use_mock_hardware = LaunchConfiguration("use_mock_hardware") + mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") + initial_joint_controller = LaunchConfiguration("initial_joint_controller") + activate_joint_controller = LaunchConfiguration("activate_joint_controller") + + base_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]), + launch_arguments={ + "ur_type": "ur18", + "robot_ip": robot_ip, + "use_mock_hardware": use_mock_hardware, + "mock_sensor_commands": mock_sensor_commands, + "initial_joint_controller": initial_joint_controller, + "activate_joint_controller": activate_joint_controller, + }.items(), + ) + + return LaunchDescription(declared_arguments + [base_launch]) diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py index 49f4f33f7..b93280d06 100644 --- a/ur_robot_driver/launch/ur_control.launch.py +++ b/ur_robot_driver/launch/ur_control.launch.py @@ -424,6 +424,7 @@ def generate_launch_description(): "ur16e", "ur8long", "ur15", + "ur18", "ur20", "ur30", ], diff --git a/ur_robot_driver/test/test_common.py b/ur_robot_driver/test/test_common.py index 41bc50d08..a256dbf7a 100644 --- a/ur_robot_driver/test/test_common.py +++ b/ur_robot_driver/test/test_common.py @@ -405,6 +405,7 @@ def _declare_launch_arguments(): "ur16e", "ur8long", "ur15", + "ur18", "ur20", "ur30", ], diff --git a/ur_robot_driver/urdf/ur.ros2_control.xacro b/ur_robot_driver/urdf/ur.ros2_control.xacro deleted file mode 100644 index b480434b0..000000000 --- a/ur_robot_driver/urdf/ur.ros2_control.xacro +++ /dev/null @@ -1,312 +0,0 @@ - - - - - - - - - - - - - - - - - - - - mock_components/GenericSystem - ${mock_sensor_commands} - 0.0 - true - - - ur_robot_driver/URPositionHardwareInterface - ${robot_ip} - ${script_filename} - ${output_recipe_filename} - ${input_recipe_filename} - ${headless_mode} - ${reverse_port} - ${script_sender_port} - ${reverse_ip} - ${script_command_port} - ${trajectory_port} - ${tf_prefix} - ${non_blocking_read} - 2000 - 0.03 - ${use_tool_communication} - ${kinematics_hash} - ${tool_voltage} - ${tool_parity} - ${tool_baud_rate} - ${tool_stop_bits} - ${tool_rx_idle_chars} - ${tool_tx_idle_chars} - ${tool_device_name} - ${tool_tcp_port} - ${robot_receive_timeout} - - - - - - - - - - - 1.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - -