Yannick Goumaz 997b23773e | 1 month ago | |
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.. | ||
launch | 9 months ago | |
resource | 9 months ago | |
test | 1 year ago | |
webots_ros2_universal_robot | 11 months ago | |
worlds | 10 months ago | |
CHANGELOG.rst | 1 month ago | |
README.md | 1 year ago | |
package.xml | 1 month ago | |
setup.cfg | 2 years ago | |
setup.py | 1 month ago |
This package provides an interface between ROS2 and the UR3e, UR5e and UR10e simulation models of the Universal Robots running in Webots.
It includes several simulations of these robots.
Documentation is available here.
The URDF file for the UR5e robot used in this package is a mix of the UR5e robot taken from UniversalRobots and the 3-fingers-gripper taken from robotiq.
Some adaptations have been made in the files from the two repositories.
<webots>
plugin tag:<?xml version="1.0"?>
<robot name="UR5e" xmlns:xacro="http://wiki.ros.org/xacro">
<!--
Custom mix of ur5e robot and robotiq 3f gripper for Webots.
Based on https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
and https://github.com/ros-industrial/robotiq.
-->
<webots>
<plugin type="webots_ros2_control::Ros2Control" />
</webots>
<!-- ur5e robot -->
<xacro:include filename="$(find webots_ros2_universal_robot)/resource/Universal_Robots_ROS2_Driver/ur_description/urdf/ur.urdf.xacro" />
<!-- robotiq 3f gripper -->
<xacro:include filename="$(find webots_ros2_universal_robot)/resource/robotiq/robotiq_3f_gripper_visualization/cfg/robotiq-3f-gripper_articulated_macro.xacro" />
<xacro:robotiq-3f-gripper_articulated prefix=""/>
</robot>
UniversalRobots
files:joint_limit_params
, kinematics_params
, physical_params
and visual_params
default arguments with the path to their corresponding .yaml
files.<!-- Data files required by the UR driver -->
.<xacro:ur_ros2_control.../>
below <!-- ros2 control instance -->
by:<xacro:ur_ros2_control
name="WebotsControl" prefix="${prefix}"
initial_positions="${initial_positions}" />
script_filename output_recipe_filename input_recipe_filename tf_prefix hash_kinematics robot_ip
from the <xacro:macro...>
tag.<joint name="speed_scaling">
, the <joint name="gpio">
, the <joint name="resend_robot_program">
and the <joint name="system_interface">
tags.<command_interface name="velocity">...</command_interface>
tags and all the <param...>...</param>
tags from the <command_interface name="position">...</command_interface>
tags<hardware></hardware>
tag by:<hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
</hardware>
<sensor name="tcp_fts_sensor">...</sensor>
tag these tags:<!-- ROBOTIQ 3F Gripper -->
<joint name="palm_finger_1_joint">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_1_joint_1">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_1_joint_2">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_1_joint_3">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="palm_finger_2_joint">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_2_joint_1">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_2_joint_2">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_2_joint_3">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_middle_joint_1">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_middle_joint_2">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
<joint name="finger_middle_joint_3">
<state_interface name="position"/>
<command_interface name="position"/>
</joint>
robotiq
files:<link name="${prefix}tool0"/>
tag and replace the <joint name="${prefix}palm_tool0" type="fixed">...</joint>
tags by:<joint name="${prefix}tool0_palm" type="fixed">
<parent link="${prefix}tool0"/>
<child link="${prefix}palm"/>
<origin xyz="0 0 0.045" rpy="1.5708 0 0"/>
</joint>
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