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ur.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ur_ros2_control" params="
name
use_mock_hardware:=false mock_sensor_commands:=false
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename output_recipe_filename
input_recipe_filename tf_prefix
hash_kinematics robot_ip
tool_voltage:=0 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
reverse_port:=50001
script_sender_port:=50002
reverse_ip:=0.0.0.0
script_command_port:=50004
trajectory_port:=50003
non_blocking_read:=false
keep_alive_count:=2
">
<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${sim_gazebo}">
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</xacro:if>
<xacro:if value="${sim_ignition}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${use_mock_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="mock_sensor_commands">${mock_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_mock_hardware or sim_gazebo or sim_ignition}">
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
<param name="script_filename">${script_filename}</param>
<param name="output_recipe_filename">${output_recipe_filename}</param>
<param name="input_recipe_filename">${input_recipe_filename}</param>
<param name="headless_mode">${headless_mode}</param>
<param name="reverse_port">${reverse_port}</param>
<param name="script_sender_port">${script_sender_port}</param>
<param name="reverse_ip">${reverse_ip}</param>
<param name="script_command_port">${script_command_port}</param>
<param name="trajectory_port">${trajectory_port}</param>
<param name="tf_prefix">${tf_prefix}</param>
<param name="non_blocking_read">${non_blocking_read}</param>
<param name="servoj_gain">2000</param>
<param name="servoj_lookahead_time">0.03</param>
<param name="use_tool_communication">${use_tool_communication}</param>
<param name="kinematics/hash">${hash_kinematics}</param>
<param name="tool_voltage">${tool_voltage}</param>
<param name="tool_parity">${tool_parity}</param>
<param name="tool_baud_rate">${tool_baud_rate}</param>
<param name="tool_stop_bits">${tool_stop_bits}</param>
<param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
<param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
<param name="tool_device_name">${tool_device_name}</param>
<param name="tool_tcp_port">${tool_tcp_port}</param>
<param name="keep_alive_count">${keep_alive_count}</param>
</xacro:unless>
</hardware>
<joint name="${tf_prefix}shoulder_pan_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}shoulder_lift_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}elbow_joint">
<command_interface name="position">
<param name="min">{-pi}</param>
<param name="max">{pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['elbow_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_1_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_2_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_3_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<xacro:unless value="${sim_gazebo or sim_ignition}">
<sensor name="${tf_prefix}tcp_fts_sensor">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<state_interface name="torque.x"/>
<state_interface name="torque.y"/>
<state_interface name="torque.z"/>
</sensor>
<!-- NOTE The following are joints used only for testing with mock hardware and will change in the future -->
<gpio name="${tf_prefix}speed_scaling">
<state_interface name="speed_scaling_factor"/>
<param name="initial_speed_scaling_factor">1</param>
<command_interface name="target_speed_fraction_cmd"/>
<command_interface name="target_speed_fraction_async_success"/>
</gpio>
<gpio name="${tf_prefix}gpio">
<command_interface name="standard_digital_output_cmd_0"/>
<command_interface name="standard_digital_output_cmd_1"/>
<command_interface name="standard_digital_output_cmd_2"/>
<command_interface name="standard_digital_output_cmd_3"/>
<command_interface name="standard_digital_output_cmd_4"/>
<command_interface name="standard_digital_output_cmd_5"/>
<command_interface name="standard_digital_output_cmd_6"/>
<command_interface name="standard_digital_output_cmd_7"/>
<command_interface name="standard_digital_output_cmd_8"/>
<command_interface name="standard_digital_output_cmd_9"/>
<command_interface name="standard_digital_output_cmd_10"/>
<command_interface name="standard_digital_output_cmd_11"/>
<command_interface name="standard_digital_output_cmd_12"/>
<command_interface name="standard_digital_output_cmd_13"/>
<command_interface name="standard_digital_output_cmd_14"/>
<command_interface name="standard_digital_output_cmd_15"/>
<command_interface name="standard_digital_output_cmd_16"/>
<command_interface name="standard_digital_output_cmd_17"/>
<command_interface name="standard_analog_output_cmd_0"/>
<command_interface name="standard_analog_output_cmd_1"/>
<command_interface name="tool_voltage_cmd"/>
<command_interface name="io_async_success"/>
<state_interface name="digital_output_0"/>
<state_interface name="digital_output_1"/>
<state_interface name="digital_output_2"/>
<state_interface name="digital_output_3"/>
<state_interface name="digital_output_4"/>
<state_interface name="digital_output_5"/>
<state_interface name="digital_output_6"/>
<state_interface name="digital_output_7"/>
<state_interface name="digital_output_8"/>
<state_interface name="digital_output_9"/>
<state_interface name="digital_output_10"/>
<state_interface name="digital_output_11"/>
<state_interface name="digital_output_12"/>
<state_interface name="digital_output_13"/>
<state_interface name="digital_output_14"/>
<state_interface name="digital_output_15"/>
<state_interface name="digital_output_16"/>
<state_interface name="digital_output_17"/>
<state_interface name="digital_input_0"/>
<state_interface name="digital_input_1"/>
<state_interface name="digital_input_2"/>
<state_interface name="digital_input_3"/>
<state_interface name="digital_input_4"/>
<state_interface name="digital_input_5"/>
<state_interface name="digital_input_6"/>
<state_interface name="digital_input_7"/>
<state_interface name="digital_input_8"/>
<state_interface name="digital_input_9"/>
<state_interface name="digital_input_10"/>
<state_interface name="digital_input_11"/>
<state_interface name="digital_input_12"/>
<state_interface name="digital_input_13"/>
<state_interface name="digital_input_14"/>
<state_interface name="digital_input_15"/>
<state_interface name="digital_input_16"/>
<state_interface name="digital_input_17"/>
<state_interface name="standard_analog_output_0"/>
<state_interface name="standard_analog_output_1"/>
<state_interface name="standard_analog_input_0"/>
<state_interface name="standard_analog_input_1"/>
<state_interface name="analog_io_type_0"/>
<state_interface name="analog_io_type_1"/>
<state_interface name="analog_io_type_2"/>
<state_interface name="analog_io_type_3"/>
<state_interface name="tool_mode"/>
<state_interface name="tool_output_voltage"/>
<state_interface name="tool_output_current"/>
<state_interface name="tool_temperature"/>
<state_interface name="tool_analog_input_0"/>
<state_interface name="tool_analog_input_1"/>
<state_interface name="tool_analog_input_type_0"/>
<state_interface name="tool_analog_input_type_1"/>
<state_interface name="robot_mode"/>
<state_interface name="robot_status_bit_0"/>
<state_interface name="robot_status_bit_1"/>
<state_interface name="robot_status_bit_2"/>
<state_interface name="robot_status_bit_3"/>
<state_interface name="safety_mode"/>
<state_interface name="safety_status_bit_0"/>
<state_interface name="safety_status_bit_1"/>
<state_interface name="safety_status_bit_2"/>
<state_interface name="safety_status_bit_3"/>
<state_interface name="safety_status_bit_4"/>
<state_interface name="safety_status_bit_5"/>
<state_interface name="safety_status_bit_6"/>
<state_interface name="safety_status_bit_7"/>
<state_interface name="safety_status_bit_8"/>
<state_interface name="safety_status_bit_9"/>
<state_interface name="safety_status_bit_10"/>
<state_interface name="program_running"/>
</gpio>
<gpio name="${tf_prefix}payload">
<command_interface name="mass"/>
<command_interface name="cog.x"/>
<command_interface name="cog.y"/>
<command_interface name="cog.z"/>
<command_interface name="payload_async_success"/>
</gpio>
<gpio name="${tf_prefix}resend_robot_program">
<command_interface name="resend_robot_program_cmd"/>
<command_interface name="resend_robot_program_async_success"/>
</gpio>
<gpio name="${tf_prefix}hand_back_control">
<command_interface name="hand_back_control_cmd"/>
<command_interface name="hand_back_control_async_success"/>
</gpio>
<gpio name="${tf_prefix}zero_ftsensor">
<command_interface name="zero_ftsensor_cmd"/>
<command_interface name="zero_ftsensor_async_success"/>
</gpio>
<gpio name="${tf_prefix}force_mode">
<command_interface name="task_frame_x"/>
<command_interface name="task_frame_y"/>
<command_interface name="task_frame_z"/>
<command_interface name="task_frame_rx"/>
<command_interface name="task_frame_ry"/>
<command_interface name="task_frame_rz"/>
<command_interface name="selection_vector_x"/>
<command_interface name="selection_vector_y"/>
<command_interface name="selection_vector_z"/>
<command_interface name="selection_vector_rx"/>
<command_interface name="selection_vector_ry"/>
<command_interface name="selection_vector_rz"/>
<command_interface name="wrench_x"/>
<command_interface name="wrench_y"/>
<command_interface name="wrench_z"/>
<command_interface name="wrench_rx"/>
<command_interface name="wrench_ry"/>
<command_interface name="wrench_rz"/>
<command_interface name="limits_x"/>
<command_interface name="limits_y"/>
<command_interface name="limits_z"/>
<command_interface name="limits_rx"/>
<command_interface name="limits_ry"/>
<command_interface name="limits_rz"/>
<command_interface name="type"/>
<command_interface name="disable_cmd"/>
<command_interface name="force_mode_async_success"/>
<command_interface name="damping"/>
<command_interface name="gain_scaling"/>
</gpio>
<gpio name="${tf_prefix}system_interface">
<state_interface name="initialized"/>
</gpio>
</xacro:unless>
</ros2_control>
</xacro:macro>
</robot>