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Overview

This package is part of the ROS-Industrial program.

Compatibility

Please see the universal_robot page for information on compatible (Polyscope) system versions.

Network configuration

Standard TCP/IP connections are used to communicate with the Universal Robot controller. A working network configuration is therefore required.

For simple setups, a single, direct cable connection is probably sufficient. In the absence of a DHCP server on the ROS PC, configure both controller and PC with static IPs.

For more complex network setups (multiple subnets, NAT, VPN) be sure to allow traffic to pass unrestricted between the controller and your ROS PC. At a minimum: ports used are 30002 & 30003 (from PC to controller), and port 50001 (controller to PC, configurable) (all TCP). For multi-controller setups, additional ports are opened on the ROS PC.

In all cases, make sure to check that you can ping the controller from your ROS PC.

Nodes

ur_driver

Responsible for communication with the UR controller. Connects to and deserialises packets from the secondary client interface and the Matlab interface, as well as a custom socket connection for trajectory relay and IO services.

Published Topics

io_states (ur_msgs/IOStates)

• State of the digital and analogue inputs and outputs of the connected robot (10 Hz).

joint_states (sensor_msgs/JointState)

• Joint State for all joints of the connected robot (125 Hz).

wrench (geometry_msgs/WrenchStamped)

• The wrench (Force/Torque vector) at the TCP (125 Hz).

Parameters

~max_velocity (double, default: 10.0)

• Maximum joint velocity that may occur in a JointTrajectory. Submitting trajectories with velocities larger than this will result in an error being reported and the trajectory will not be executed. Units: rad/s.

~min_payload (double, default: 0.0)

• Minimum payload value accepted by SetPayload service. Units: Kg.

~max_payload (double, default: 1.0)

• Maximum payload value accepted by SetPayload service. Units: Kg.

~prefix (str, default: none)

• Prefix to prepend to joint names (used in JointState publications, trajectory processing).

~prevent_programming (boolean, default: False)

• May be used to prevent uploading of the URScript control program.

~robot_description (str, default: none)

• The urdf robot description.