UniversalRobots · fmauch · Sep 24, 2020 · Sep 24, 2020 · Jun 30, 2020 · Sep 24, 2020
diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 # Universal_Robots_ROS_Driver
 Universal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains.
 
-<center><img src="ur_robot_driver/doc/initial_setup_images/e-Series.png" alt="Universal Robot e-Series family" style="width: 45%;"/></center>
+<center><img src="ur_robot_driver/doc/initial_setup_images/e-Series.jpg" alt="Universal Robot e-Series family" style="width: 80%;"/></center>
 
 With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.
 
@@ -91,6 +91,15 @@ To make sure that robot control isn't affected by system latencies, it is highly
 a real-time kernel with the system. See the [real-time setup guide](ur_robot_driver/doc/real_time.md)
 on information how to set this up.
 
+## Preliminary UR16e support
+This driver supports all UR variants including the UR16e. However, upstream support for the UR16e is
+not finished, yet. When using the UR16e there is currently no support for gazebo or MoveIt!.
+
+See [#97](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/97) for details on
+using the latest upstream develop branch of
+[ros_industrial/universal_robot](https://github.com/ros-industrial/universal_robot) which includes
+gazebo support for the ur16e, but no working MoveIt! support at the time of writing.
+
 ## Building
 
 ```bash
@@ -166,7 +175,7 @@ To actually start the robot driver use one of the existing launch files
 
     $ roslaunch ur_robot_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101
 
-where **<robot_type>** is one of *ur3, ur5, ur10, ur3e, ur5e, ur10e*. Note that in this example we
+where **<robot_type>** is one of *ur3, ur5, ur10, ur3e, ur5e, ur10e, ur16e*. Note that in this example we
 load the calibration parameters for the robot "ur10_example".
 
 If you calibrated your robot before, pass that calibration to the launch file:

diff --git a/ur_robot_driver/config/ur16e_controllers.yaml b/ur_robot_driver/config/ur16e_controllers.yaml
@@ -0,0 +1,136 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: &loop_hz 500
+
+# Settings for ros_control hardware interface
+ur_hardware_interface:
+   joints: &robot_joints
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: *loop_hz
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: *loop_hz
+
+# Publish speed_scaling factor
+speed_scaling_state_controller:
+   type:         ur_controllers/SpeedScalingStateController
+   publish_rate: *loop_hz
+
+# Joint Trajectory Controller - position based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+scaled_pos_joint_traj_controller:
+   type: position_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
+
+pos_joint_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
+
+scaled_vel_joint_traj_controller:
+   type: velocity_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+      elbow_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+   gains:
+      #!!These values have not been optimized!!
+      shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      elbow_joint:         {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+   # Use a feedforward term to reduce the size of PID gains
+   velocity_ff:
+      shoulder_pan_joint: 1.0
+      shoulder_lift_joint: 1.0
+      elbow_joint: 1.0
+      wrist_1_joint: 1.0
+      wrist_2_joint: 1.0
+      wrist_3_joint: 1.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
+
+vel_joint_traj_controller:
+   type: velocity_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+      elbow_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+   gains:
+      #!!These values have not been optimized!!
+      shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      elbow_joint:         {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+   # Use a feedforward term to reduce the size of PID gains
+   velocity_ff:
+      shoulder_pan_joint: 1.0
+      shoulder_lift_joint: 1.0
+      elbow_joint: 1.0
+      wrist_1_joint: 1.0
+      wrist_2_joint: 1.0
+      wrist_3_joint: 1.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
+
+# Pass an array of joint velocities directly to the joints
+joint_group_vel_controller:
+   type: velocity_controllers/JointGroupVelocityController
+   joints: *robot_joints
+
+robot_status_controller:
+   type: industrial_robot_status_controller/IndustrialRobotStatusController
+   handle_name: industrial_robot_status_handle
+   publish_rate: 10
diff --git a/ur_robot_driver/doc/initial_setup_images/e-Series.jpg b/ur_robot_driver/doc/initial_setup_images/e-Series.jpg
diff --git a/ur_robot_driver/doc/initial_setup_images/e-Series.png b/ur_robot_driver/doc/initial_setup_images/e-Series.png
diff --git a/ur_robot_driver/launch/ur16e_bringup.launch b/ur_robot_driver/launch/ur16e_bringup.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<launch>
+
+  <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
+  <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur16e_upload.launch" doc="Robot description launch file."/>
+  <arg name="kinematics_config" default="$(find ur_e_description)/config/ur16e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
+  <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
+  <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
+  <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+
+  <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
+</launch>