This is no longer supported, please consider using https://github.com/UniversalRobots/Universal_Robots_ROS_Driver instead
sr_ur_arm contains code allowing control of Universal Robots (UR) arms and their combinations with a Shadow Dexterous Hand. UR10, UR5 and UR3 are all supported by this package and can be used with or independently from Shadow Dexterous Hand.
Combined UR robot and hand system requires a special control structure because the UR arm expects position control commands over TCP/IP at 125Hz, and the Shadow Hand expects output over EtherCAT from a 1kHz control loop.
Communication with the UR arm by TCP/IP is handled asynchronously by libuv. Communication with the Shadow Hand is handled with the standard drivers using EtherCAT and eml as the EtherCAT master.
The control loop in ros_ethercat keeps both robots synchronized, with the hand's controller updated every 1ms and the UR arm's controller updated every 8ms.
The controller for a UR model CB3 arm (6DOF) is provided as a plugin according to the ros_control architecture.
This repository is compatible with ros_control and CombinedRobotHW and uses generic ros_control_robot multi-robot ros_control loop. Example launch files for a UR10 robot (independent of the Shadow Dexterous Hand) can be found here.
sr_ur_arm depends on Shadow's fork of the ros_industrial drivers for UR, for things like the URDF description of the UR robot or Shadow Hand drivers for ROS.
This repository has been widely used across many launch files implemented by Shadow. Numerous examples can be found in our sr_robot_launch package.
Connect with the socket to a server at the robot e.g. ("192.168.0.1", 30002). Then open a robot program file send it through the socket.
Create and run the event loop in a thread with real time priority.
Accept a connection from a client in the robot and then send position commands and check response.
Connect to the real time state server e.g. ("192.168.0.1", 30003) and then receive and unpack the robot state.
plug in controller for the controller loop in ros_ethercat.