diff --git a/CODEOWNERS b/CODEOWNERS index 7a5328314..753bda418 100644 --- a/CODEOWNERS +++ b/CODEOWNERS @@ -1,2 +1,2 @@ # Default all changes will request review from: -* @rhysfaultless-cpr @jhiggins-cpr @tonybaltovski @hilary-luo +* @rhysfaultless-cpr @jhiggins-cpr @tonybaltovski @luis-camero @roni-kreinin \ No newline at end of file diff --git a/components/manipulators/universal_robots/services_polyscope5.png b/components/manipulators/universal_robots/services_polyscope5.png new file mode 100644 index 000000000..a32720ff2 Binary files /dev/null and b/components/manipulators/universal_robots/services_polyscope5.png differ diff --git a/components/supported_manipulators.mdx b/components/supported_manipulators.mdx index 677ae6355..9861d910e 100644 --- a/components/supported_manipulators.mdx +++ b/components/supported_manipulators.mdx @@ -19,7 +19,7 @@ Debian drivers are automatically installed on robots as part of the | Universal Robots UR16e | Debian | Debian | Debian | Debian | [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver) | | Universal Robots UR20 | Debian | Debian | Debian | Debian | [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver) | | Universal Robots UR30 | Debian | Debian | Debian | Debian | [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver) | -| Franka Research 3 | Source | Source | Unsupported | Unsupported | [Franka](https://github.com/frankaemika/franka_ros2) | +| Franka Research 3 | Source | Source | Source | Source | [Franka](https://github.com/frankaemika/franka_ros2) | ### Grippers diff --git a/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx b/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx index 30c61ac8f..a5eb601ae 100644 --- a/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx +++ b/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx @@ -34,6 +34,8 @@ The Universal Robots arms use the `ur_description` and `ur_driver` ROS 2 Package For more specifics on the way Clearpath's configuration system adds the arm to the robot description, see the [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro). Note, all parameters to the `xacro:macro universal_robots` can be passed through the `robot.yaml` entry above. For examples, read the sections below. +For more information on how to setup the arm, see the [Universal Robots ROS 2 Driver Documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/index.html). + ### Teach Pendant Setup The following sub-sections will cover the standard UR teach pendant setup, but with the specific Clearpath parameters. For the UR instructions see: [**Setting up a UR robot for ur_robot_driver**](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html) and [**Installing a URCap on a e-Series robot**](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/install_urcap_e_series.html). @@ -60,7 +62,7 @@ Navigate to the **Settings/System/URCaps** page to install the URCap. Note, you -Navigate to the **Installation/URCaps** page to configure the IP address and hostname of the external device. The standard Clearpath robot computer IP address is `192.168.131.40`. Each robot has its own hostname, we will use `cpr-a300-0000` as a placeholder: +Navigate to the **Installation/URCaps** page to configure the IP address and hostname of the external device. The standard Clearpath robot computer IP address is `192.168.131.1`. Each robot has its own hostname, we will use `cpr-a300-0000` as a placeholder:
diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots/details.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots/details.mdx index 654753e7c..7751de1b5 100644 --- a/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots/details.mdx +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots/details.mdx @@ -3,6 +3,8 @@ The Universal Robots arms use the `ur_description` and `ur_driver` ROS 2 Package For more specifics on the way Clearpath's configuration system adds the arm to the robot description, see the [description file](https://github.com/clearpathrobotics/clearpath_common/blob/jazzy/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro). Note, all parameters to the `xacro:macro universal_robots` can be passed through the `robot.yaml` entry above. For examples, read the sections below. +For more information on how to setup the arm, see the [Universal Robots ROS 2 Driver Documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/index.html). + ### Teach Pendant Setup {#ur_teach_pendant_setup} The following sub-sections will cover the standard UR teach pendant setup, but with the specific Clearpath parameters. For the UR instructions see: [**Setting up a UR robot for ur_robot_driver**](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html) and [**Installing a URCap on a e-Series robot**](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/install_urcap_e_series.html). @@ -25,6 +27,22 @@ Navigate to the **Settings/System/Networking** page of the UR teach pendant and + +#### Services +
+ +Enabling Services + +In recent versions of the UR control box firmware, the services required to start external control must be enabled manually through the teach pendant. Under the `Settings` page, find the `Security` tab. There should be a `Services` section under the `Security` tab. Enable the `Dashboard Server`, `Primary Client Interface`, and `Real-Time Data Exchange (RTDE)` interfaces. + +
+
+ +
+
+ +
+ #### URCap
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/tutorials/navigation_demos/nav2.mdx b/docs_versioned_docs/version-ros2jazzy/ros/tutorials/navigation_demos/nav2.mdx index a4dff68f5..d2c632f63 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/tutorials/navigation_demos/nav2.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/tutorials/navigation_demos/nav2.mdx @@ -100,7 +100,7 @@ ros2 launch clearpath_nav2_demos slam.launch.py scan_topic:=/a300_0000/sensors/l **4.** Start Rviz to view the map by running ```bash -ros2 launch clearpath_viz view_navigation namespace:=/a300_0000 use_sim_time:=true +ros2 launch clearpath_viz view_navigation.launch.py namespace:=/a300_0000 use_sim_time:=true ``` **5.** Drive the robot around manually, or by sending it 2D nav goals. @@ -136,7 +136,7 @@ ros2 launch clearpath_nav2_demos localization.launch.py scan_topic:=/a300_0000/s **4.** On your laptop, start Rviz to view the map by running ```bash -ros2 launch clearpath_viz view_navigation namespace:=/a300_0000 +ros2 launch clearpath_viz view_navigation.launch.py namespace:=/a300_0000 ``` **5.** Use Rviz to [set the 2D pose estimate](localization#setting-the-2d-pose-estimate). @@ -175,7 +175,7 @@ ros2 launch clearpath_nav2_demos localization.launch.py scan_topic:=/a300_0000/s **4.** On your laptop, start Rviz to view the map by running ```bash -ros2 launch clearpath_viz view_navigation namespace:=/a300_0000 +ros2 launch clearpath_viz view_navigation.launch.py namespace:=/a300_0000 ``` **5.** Use Rviz to [set the 2D pose estimate](localization#setting-the-2d-pose-estimate).