Merge branch 'main' into fix/goal_time_violated

.github/workflows/iron-binary-main.yml

@@ -6,7 +6,6 @@ on:
   pull_request:
     branches:
       - iron
-      - main # as long as rolling and iron should be compatible
   push:
     branches:
       - iron

.github/workflows/iron-binary-testing.yml

@@ -6,7 +6,6 @@ on:
   pull_request:
     branches:
       - iron
-      - main # as long as rolling and iron should be compatible
   push:
     branches:
       - iron

.github/workflows/iron-semi-binary-main.yml

@@ -6,7 +6,6 @@ on:
   pull_request:
     branches:
       - iron
-      - main # as long as rolling and iron should be compatible
   push:
     branches:
       - iron

.github/workflows/iron-semi-binary-testing.yml

@@ -6,7 +6,6 @@ on:
   pull_request:
     branches:
       - iron
-      - main # as long as rolling and iron should be compatible
   push:
     branches:
       - iron

README.md

@@ -85,12 +85,19 @@ users an overview of the current released state.
   - `ur_moveit_config` - example MoveIt configuration for UR robots.
   - `ur_robot_driver` - driver / hardware interface for communication with UR robots.
 
+## System Requirements
+
+Please see the [requirements for the Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library#requirements), as this driver is build on top of Universal_Robots_Client_Library.
+
 ## Getting Started
 
 For getting started, you'll basically need three steps:
 
-1. **Install the driver** (see below). You can either install this driver from binary packages or build it from source. We recommend a
-binary package installation unless you want to join development and submit changes.
+1. **Install the driver**
+   ```bash
+   sudo apt-get install ros-rolling-ur
+   ```
+   See the [installation instructions](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html) for more details and source-build instructions.
 
 2. **Start & Setup the robot**. Once you've installed the driver, [setup the
    robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
@@ -110,65 +117,14 @@ binary package installation unless you want to join development and submit chang
    documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for
    details.
 
-4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
-
-### Install from binary packages
-1. [Install ROS2](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). This
-      branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective
-      branches.
-2. Install the driver using
-   ```
-   sudo apt-get install ros-${ROS_DISTRO}-ur
+   ```bash
+   # Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30
+   # Replace the IP address with the IP address of your actual robot / URSim
+   ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
    ```
 
-### Build from source
-Before building from source please make sure that you actually need to do that. Building from source
-might require some special treatment, especially when it comes to dependency management.
-Dependencies might change from time to time. Upstream packages (such as the library) might change
-their features / API which require changes in this repo. Therefore, this repo's source builds might
-require upstream repositories to be present in a certain version as otherwise builds might fail.
-Starting from scratch following exactly the steps below should always work, but simply pulling and
-building might fail occasionally.
-
-1. [Install ROS2](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). This
-      branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective
-      branches.
-
-   Once installed, please make sure to actually [source ROS2](https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files) before proceeding.
-
-3. Make sure that `colcon`, its extensions and `vcs` are installed:
-   ```
-   sudo apt install python3-colcon-common-extensions python3-vcstool
-   ```
-
-4. Create a new ROS2 workspace:
-   ```
-   export COLCON_WS=~/workspace/ros_ur_driver
-   mkdir -p $COLCON_WS/src
-   ```
-
-5. Clone relevant packages, install dependencies, compile, and source the workspace by using:
-   ```
-   cd $COLCON_WS
-   git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
-   vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
-   rosdep update
-   rosdep install --ignore-src --from-paths src -y
-   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
-   source install/setup.bash
-   ```
-
-6. When consecutive pulls lead to build errors it is possible that you'll have to build an upstream
-   package from source, as well. See the [detailed build status](ci_status.md). When the binary builds are red, but
-   the semi-binary builds are green, you need to build the upstream dependencies from source. The
-   easiest way to achieve this, is using the repos file:
+4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
 
-   ```
-   cd $COLCON_WS
-   vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.${ROS_DISTRO}.repos
-   rosdep update
-   rosdep install --ignore-src --from-paths src -y
-   ```
 
 ## MoveIt! support
 

ur/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ur
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.2 (2023-11-23)
+------------------
+
 2.4.1 (2023-09-21)
 ------------------
 

ur/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>Metapackage for universal robots</description>
   <maintainer email="[email protected]">Felix Exner</maintainer>
   <maintainer email="[email protected]">Robert Wilbrandt</maintainer>

ur_calibration/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ur_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.2 (2023-11-23)
+------------------
+
 2.4.1 (2023-09-21)
 ------------------
 

ur_calibration/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_calibration</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

ur_controllers/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package ur_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.2 (2023-11-23)
+------------------
+* Update read_state_from_hardware
+* Renamed normalize_joint_error to joints_angle_wraparound
+* Remove noisy controller log message
+* Contributors: Felix Exner, Robert Wilbrandt
+
 2.4.1 (2023-09-21)
 ------------------
 * Update sjtc to newest upstream API (`#810 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/810>`_)

ur_controllers/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_controllers</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>Provides controllers that use the speed scaling interface of Universal Robots.</description>
 
   <maintainer email="[email protected]">Denis Stogl</maintainer>

ur_controllers/src/scaled_joint_trajectory_controller.cpp

@@ -90,7 +90,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
   auto compute_error_for_joint = [&](JointTrajectoryPoint& error, size_t index, const JointTrajectoryPoint& current,
                                      const JointTrajectoryPoint& desired) {
     // error defined as the difference between current and desired
-    if (normalize_joint_error_[index]) {
+    if (joints_angle_wraparound_[index]) {
       // if desired, the shortest_angular_distance is calculated, i.e., the error is
       //  normalized between -pi<error<pi
       error.positions[index] = angles::shortest_angular_distance(current.positions[index], desired.positions[index]);
@@ -129,7 +129,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
 
   // current state update
   state_current_.time_from_start.set__sec(0);
-  read_state_from_hardware(state_current_);
+  read_state_from_state_interfaces(state_current_);
 
   // currently carrying out a trajectory
   if (has_active_trajectory()) {

ur_dashboard_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ur_dashboard_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.2 (2023-11-23)
+------------------
+
 2.4.1 (2023-09-21)
 ------------------
 

ur_dashboard_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_dashboard_msgs</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>Messages around the UR Dashboard server.</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

ur_moveit_config/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package ur_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.2 (2023-11-23)
+------------------
+* moveit_servo package executable name has changed (`#854 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/854>`_)
+* Contributors: Felix Durchdewald
+
 2.4.1 (2023-09-21)
 ------------------
 * Added support for UR20 (`#797 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/797>`_)

ur_moveit_config/launch/ur_moveit.launch.py

@@ -263,7 +263,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
+            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
         )
     )
     declared_arguments.append(

ur_moveit_config/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_moveit_config</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>
      An example package with MoveIt2 configurations for UR robots.
   </description>

ur_robot_driver/CHANGELOG.rst

@@ -1,3 +1,14 @@
+2.4.2 (2023-11-23)
+------------------
+* [README] Move installation instructions to subpage (`#870 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/870>`_)
+* Add backward_ros to driver (`#872 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/872>`_)
+* Simplify tests (`#849 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/849>`_)
+* Port configuration  (`#835 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/835>`_)
+  Added possibility to change the reverse_port, script_sender_port and trajectory_port
+* [README] Update link to MoveIt! documentation
+* Do not start urscipt_interface when using mock hardware
+* Contributors: Felix Durchdewald, Felix Exner, RobertWilbrandt
+
 2.4.1 (2023-09-21)
 ------------------
 * Added a test that sjtc correctly aborts on violation of constraints (`#810 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/810>`_)

ur_robot_driver/CMakeLists.txt

@@ -167,7 +167,7 @@ install(PROGRAMS scripts/start_ursim.sh
   DESTINATION lib/${PROJECT_NAME}
 )
 
-install(DIRECTORY config launch
+install(DIRECTORY config launch urdf
   DESTINATION share/${PROJECT_NAME}
 )
 

ur_robot_driver/config/ur30_update_rate.yaml

@@ -0,0 +1,3 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 500  # Hz

ur_robot_driver/doc/installation/installation.rst

@@ -0,0 +1,71 @@
+Installation of the ur_robot_driver
+===================================
+
+You can either install this driver from binary packages as shown above or build it from source. We
+recommend a binary package installation unless you want to join development and submit changes.
+
+Install from binary packages
+----------------------------
+
+1. `Install ROS2 <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_. This
+   branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective branches.
+2. Install the driver using
+
+   .. code-block:: bash
+
+     sudo apt-get install ros-${ROS_DISTRO}-ur
+
+
+Build from source
+-----------------
+
+Before building from source please make sure that you actually need to do that. Building from source
+might require some special treatment, especially when it comes to dependency management.
+Dependencies might change from time to time. Upstream packages (such as the library) might change
+their features / API which require changes in this repo. Therefore, this repo's source builds might
+require upstream repositories to be present in a certain version as otherwise builds might fail.
+Starting from scratch following exactly the steps below should always work, but simply pulling and
+building might fail occasionally.
+
+1. `Install ROS2 <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_. This
+   branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective branches.
+
+   Once installed, please make sure to actually `source ROS2 <https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files>`_ before proceeding.
+
+3. Make sure that ``colcon``, its extensions and ``vcs`` are installed:
+
+   .. code-block:: bash
+
+     sudo apt install python3-colcon-common-extensions python3-vcstool
+
+
+4. Create a new ROS2 workspace:
+
+   .. code-block:: bash
+
+     export COLCON_WS=~/workspace/ros_ur_driver
+     mkdir -p $COLCON_WS/src
+
+5. Clone relevant packages, install dependencies, compile, and source the workspace by using:
+
+   .. code-block:: bash
+
+     cd $COLCON_WS
+     git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
+     vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
+     rosdep update
+     rosdep install --ignore-src --from-paths src -y
+     colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+     source install/setup.bash
+
+6. When consecutive pulls lead to build errors it is possible that you'll have to build an upstream
+   package from source, as well. See the [detailed build status](ci_status.md). When the binary builds are red, but
+   the semi-binary builds are green, you need to build the upstream dependencies from source. The
+   easiest way to achieve this, is using the repos file:
+
+   .. code-block:: bash
+
+     cd $COLCON_WS
+     vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.${ROS_DISTRO}.repos
+     rosdep update
+     rosdep install --ignore-src --from-paths src -y

ur_robot_driver/doc/installation/toc.rst

@@ -9,6 +9,7 @@ This chapter explains how to install the ``ur_robot_driver``
    :maxdepth: 4
    :caption: Contents:
 
+   installation
    real_time
    robot_setup
    install_urcap_cb3

ur_robot_driver/doc/usage.rst

@@ -20,7 +20,7 @@ The arguments for launch files can be listed using ``ros2 launch ur_robot_driver
 The most relevant arguments are the following:
 
 
-* ``ur_type`` (\ *mandatory* ) - a type of used UR robot (\ *ur3*\ , *ur3e*\ , *ur5*\ , *ur5e*\ , *ur10*\ , *ur10e*\ , or *ur16e*\ , *ur20*\ ).
+* ``ur_type`` (\ *mandatory* ) - a type of used UR robot (\ *ur3*\ , *ur3e*\ , *ur5*\ , *ur5e*\ , *ur10*\ , *ur10e*\ , or *ur16e*\ , *ur20*\ , *ur30*\ ).
 * ``robot_ip`` (\ *mandatory* ) - IP address by which the root can be reached.
 * ``use_mock_hardware`` (default: *false* ) - use simple hardware emulator from ros2_control.
   Useful for testing launch files, descriptions, etc. See explanation below.
@@ -106,7 +106,7 @@ For details on the Docker image, please see the more detailed guide :ref:`here <
 Example Commands for Testing the Driver
 ---------------------------------------
 
-Allowed UR - Type strings: ``ur3``\ , ``ur3e``\ , ``ur5``\ , ``ur5e``\ , ``ur10``\ , ``ur10e``\ , ``ur16e``\ , ``ur20``.
+Allowed UR - Type strings: ``ur3``\ , ``ur3e``\ , ``ur5``\ , ``ur5e``\ , ``ur10``\ , ``ur10e``\ , ``ur16e``\ , ``ur20``, ``ur30``.
 
 1. Start hardware, simulator or mockup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^