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New examples branch
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+482
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‎ur_robot_driver/CMakeLists.txt

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -161,8 +161,10 @@ install(PROGRAMS
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scripts/wait_for_robot_description
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scripts/example_move.py
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scripts/start_ursim.sh
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examples/examples.py
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examples/force_mode.py
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examples/robot_class.py
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examples/passthrough.py
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examples/scaled_joint.py
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DESTINATION lib/${PROJECT_NAME}
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)
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‎ur_robot_driver/examples/force_mode.py

Lines changed: 8 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -48,20 +48,15 @@
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from ur_msgs.srv import SetForceMode
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from examples import Robot
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from robot_class import Robot
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if __name__ == "__main__":
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rclpy.init()
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node = Node("robot_driver_test")
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robot = Robot(node)
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58-
# Add force mode service to service interfaces and re-init robot
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robot.service_interfaces.update({"/force_mode_controller/start_force_mode": SetForceMode})
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robot.service_interfaces.update({"/force_mode_controller/stop_force_mode": Trigger})
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robot.init_robot()
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time.sleep(0.5)
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# Press play on the robot
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robot.call_service("/dashboard_client/play", Trigger.Request())
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robot.play()
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time.sleep(0.5)
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# Start controllers
@@ -75,11 +70,9 @@
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)
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# Move robot in to position
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robot.send_trajectory(
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robot.passthrough_trajectory(
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waypts=[[-1.5707, -1.5707, -1.5707, -1.5707, 1.5707, 0]],
80-
time_vec=[Duration(sec=5, nanosec=0)],
81-
action_client=robot.passthrough_trajectory_action_client,
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)
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time_vec=[Duration(sec=5, nanosec=0)])
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# Finished moving
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# Create task frame for force mode
@@ -130,13 +123,12 @@
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# Send request to controller
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node.get_logger().info(f"Starting force mode with {req}")
133-
robot.call_service("/force_mode_controller/start_force_mode", req)
134-
robot.send_trajectory(
126+
robot.start_force_mode(req)
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robot.passthrough_trajectory(
135128
waypts=[[1.5707, -1.5707, -1.5707, -1.5707, 1.5707, 0]],
136-
time_vec=[Duration(sec=5, nanosec=0)],
137-
action_client=robot.passthrough_trajectory_action_client,
129+
time_vec=[Duration(sec=5, nanosec=0)]
138130
)
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140132
time.sleep(3)
141133
node.get_logger().info("Deactivating force mode controller.")
142-
robot.call_service("/force_mode_controller/stop_force_mode", Trigger.Request())
134+
robot.stop_force_mode()

‎ur_robot_driver/examples/passthrough.py

Lines changed: 95 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,95 @@
1+
#!/usr/bin/env python3
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# Copyright 2024, Universal Robots
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import rclpy
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from builtin_interfaces.msg import Duration
32+
from rclpy.node import Node
33+
from robot_class import Robot
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35+
36+
if __name__ == "__main__":
37+
rclpy.init()
38+
node = Node("robot_driver_test")
39+
robot = Robot(node)
40+
41+
# The following list are arbitrary joint positions, change according to your own needs
42+
waypts = [
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[-1, -2.5998, -1.004, -2.676, -0.992, -1.5406],
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[-0.5, -2.0, -0.5, -2.0, -0.4, -1.0],
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[0, -1.5, 0, 0, 0, -0.5],
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[-0.5, -2.0, -0.5, -2.0, -0.4, -1.0],
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[-1, -2.5998, -1.004, -2.676, -0.992, -1.5406],
48+
]
49+
# Velocities and accelerations can be omitted
50+
vels = [
51+
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
52+
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
56+
]
57+
accels = [
58+
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
59+
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
62+
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
63+
]
64+
bad_vels = [
65+
[0.1, 0.1, 0.1, 0.1, 0.1],
66+
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
67+
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
70+
]
71+
bad_accels = [
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[0.1, 0.1, 0.1, 0.1, 0.1],
73+
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
77+
]
78+
time_vec = [
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Duration(sec=2, nanosec=0),
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Duration(sec=6, nanosec=0),
81+
Duration(sec=10, nanosec=0),
82+
Duration(sec=14, nanosec=0),
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Duration(sec=18, nanosec=0),
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]
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86+
# Execute trajectory on robot, make sure that the robot is booted and the control script is running
87+
robot.play()
88+
# Trajectory using positions, velocities and accelerations
89+
robot.passthrough_trajectory(waypts, time_vec, vels, accels)
90+
# Trajectory using only positions
91+
robot.passthrough_trajectory(waypts, time_vec)
92+
93+
robot.passthrough_trajectory(waypts, time_vec, bad_vels, accels)
94+
95+
robot.passthrough_trajectory(waypts, time_vec, vels, bad_accels)

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