47 lines
2.7 KiB
Markdown
47 lines
2.7 KiB
Markdown
# Resources about the ROS 2 Universal Robot driver
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The files in this folder are available for use under BSD-3-Clause license.
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## Diagrams and images
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- [ros2_control diagrams](ros2_control_ur_driver.drawio) - `.drawio` file, Author: [Dr.-Ing. Denis Stogl](mailto:denis@stoglrobotics.de) (PickNik Robotics)
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## 2021-10 ROS World presentation
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[Presentation: Making a robot ROS 2 powered - a case study using the UR manipulators](2021-10_ROS_World_2021_Making_a_robot_ROS2_powered.pdf)
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**Summary:**
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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.
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**Presenter:** *Dr.-Ing. Denis Štogl*
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**Authors:**
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- Dr.-Ing. Denis Štogl (PickNik Inc.)
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- Dr. Nathan Brooks (PickNik Inc.)
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- Lovro Ivanov (PickNik Inc.)
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- Dr. Andy Zelenak (PickNik Inc.)
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- Rune Søe-Knudsen (Universal Robots A/S)
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#### [Video] Presentation recording
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[](https://vimeo.com/649651707)
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#### [Video] MoveIt2 Demo
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[](https://www.youtube.com/watch?v=d_cVXoZZ52w)
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This video shows free-space trajectory planning around a modeled collision scene object using the MoveIt2 MotionPlanning widget for Rviz2.
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#### [Video] Scaled Joint Trajectory Controller Demo
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[](https://www.youtube.com/watch?v=dHaxBpMGbw0)
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This video demonstrates the following features:
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- [[0:00](https://www.youtube.com/watch?v=dHaxBpMGbw0&t=0s)] - Previewing a plan with MoveIt2 MotionPlanning widget for Rviz2
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- [[0:05](https://www.youtube.com/watch?v=dHaxBpMGbw0&t=5s)] - Executing a plan with MoveIt2 MotionPlanning widget for Rviz2
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- [[0:09](https://www.youtube.com/watch?v=dHaxBpMGbw0&t=9s)] - Pendant speed scaling of a simulated MoveIt trajectory
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- [[0:18](https://www.youtube.com/watch?v=dHaxBpMGbw0&t=18s)] - Pendant speed scaling of an executed MoveIt trajectory
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- [[0:22](https://www.youtube.com/watch?v=dHaxBpMGbw0&t=22s)] - Online pendant speed scaling during trajectory execution
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- [[0:26](https://www.youtube.com/watch?v=dHaxBpMGbw0&t=26s)] - Resuming trajectory execution from E-stop
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