Ubuntu20.04机械臂抓取模型

[](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/actions) # 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.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. It is the core value of Universal Robots, to empower people to achieve any goal within automation. The success criteria of this driver release is to follow this vision, by providing the ROS community with an easy to use, stable and powerful driver, that empowers the community to reach their goals in research and automation without struggling with unimportant technical challenges, instability or lacking features. ## Acknowledgment This driver is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver). Developed in collaboration between: [<img height="60" alt="Universal Robots A/S" src="ur_robot_driver/doc/resources/ur_logo.jpg">](https://www.universal-robots.com/) &nbsp; and &nbsp; [<img height="60" alt="FZI Research Center for Information Technology" src="ur_robot_driver/doc/resources/fzi-logo_transparenz.png">](https://www.fzi.de). <!-- ROSIN acknowledgement from the ROSIN press kit @ https://github.com/rosin-project/press_kit --> <a href="http://rosin-project.eu"> <img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png" alt="rosin_logo" height="60" > </a> Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: <a href="http://rosin-project.eu">rosin-project.eu</a> <img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg" alt="eu_flag" height="45" align="left" > This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287. ## How to report an issue Before creating an issue, please have a look at the [Troubleshooting section](#Troubleshooting) of this document. To create an issue on the [Issue Board](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/new) please use the default template. ## How to get help If you need help using this driver, please see the ROS-category in the [UR+ Developer Forum](https://forum.universal-robots.com/c/ros). ## Features * Works for all **CB3 (with software version >= 3.7) and e-Series (software >= 5.1)** robots and uses the RTDE interface for communication, whenever possible. * **Factory calibration** of the robot inside ROS to reach Cartesian targets precisely. * **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the e-Series. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (See the [Real-time setup guide](ur_robot_driver/doc/real_time.md) on how to achieve this) * Transparent **integration of the teach-pendant**. Using the URCaps system, a program is running on the robot that handles control commands sent from ROS side. With this, the robot can be **paused**, **stopped** and **resumed** without restarting the ROS driver. This will in the future also enable the usage of ROS-components as part of a more complex UR-program on the teach pendant. ROS-control of the robot can be quit using a service call to continue program execution on the TP. * Use the robot's **speed-scaling**. When speed scaling is active due to safety constraints or the speed slider is used, this gets correctly handled on the ROS side, as well slowing down trajectory execution accordingly.<br/> **Note**: Other ros-controllers based on a position interface can be used with this driver, but may behave wrong if the speed slider isn't set to 100% or if speed scaling slows down the robot. Also, the pausing function can only be used if the default scaled trajectory controller is used. * **ROS-Service-based replacement of most every-day TP-interactions** offer using UR robots without interacting with the teach pendant at all, if desired. The robot can be started, stopped and even recovery from safety events can be done using ROS service- and action calls. See the driver's [dashboard services](ur_robot_driver/doc/ROS_INTERFACE.md#ur_robot_driver_node) and the [robot_state_helper node](ur_robot_driver/doc/ROS_INTERFACE.md#robot_state_helper) for details. * Use **on-the-robot interpolation** for both Cartesian and joint-based trajectories. This is extremely helpful if your application can not meet the real-time requirements of the driver. Special types of [passthrough controllers](https://github.com/fzi-forschungszentrum-informatik/cartesian_ros_control/tree/beta-testing/pass_through_controllers) forward the trajectories directly to the robot, which then takes care of interpolation between the waypoints to achieve best performance. Please see the external [feature list](ur_robot_driver/doc/features.md) for a listing of all features supported by this driver. ## Contents This repository contains the new **ur_robot_driver** and a couple of helper packages, such as: * **controller_stopper**: A small external tool that stops and restarts ros-controllers based on the robot's state. This can be helpful when the robot is in a state where it won't accept commands sent from ROS. * **ur_calibration**: Package around extracting and converting a robot's factory calibration information to make it usable by the robot_description. * **ur_robot_driver**: The actual driver package. ## Requirements This driver requires a system setup with ROS. It is recommended to use **Ubuntu 18.04 with ROS melodic**, however using Ubuntu 20.04 with ROS noetic should also work. To make sure that robot control isn't affected by system latencies, it is highly recommended to use 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 **Note:** The driver consists of a [C++ library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) that abstracts the robot's interfaces and a ROS driver on top of that. As the library can be built without ROS support, it is not a catkin package and therefore requires a different treatment when being built inside the workspace. See The alternative build method below if you'd like to build the library from source. If you don't want to build the library from source, it is available as a binary package through the ROS distribution of ROS melodic and noetic. It will be installed automatically if you follow the steps be