Universal_Robots_ROS2_Driver

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robot state helper node

2

FZI will provide input on milestone. Joint position/velocity/acceleration will already be published on the `joint_states` topic, so we may not need this

nbbrooks

As in the ROS1 driver using the client_library

urrsk

In certain situations (e.g. driver running in a docker container) it is useful to specify the IP address injected into the script code where the reverse interface is reachable from...

fmauch

Multiple robots ports

3

Running two separate [nodes](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_bringup/launch/ur_control.launch.py#L227-L235) with different `robot_description` & `robot_controllers` causes ports complications. Despite changing [ports](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_description/urdf/ur.ros2_control.xacro#L24-L25), the trajectory_port remains hardcoded, isn't configurable within [hardware interface](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/42aa2ce518884a53b5cd07a16e14bc1e8f8ea4b8/ur_robot_driver/src/hardware_interface.cpp#L238-L255). ``` [ros2_control_node-1] what(): Failed to bind...

amadeuszsz

Remote control of a Robotiq Gripper connected to the UR5 via USB

9

# Problem Currently, we are trying to control the Robotiq Gripper which is connected via USB to a UR5 remotely using the Universal_Robots_ROS2_Driver but couldn't manage to do so. Regarding...

Tonidor

Occasional crash with SJTC

8

Hi, first of all thanks for writing this, it is awesome :) The driver works realy well and setting it up was pretty straight forward because of the nice documentation,...

schnili

[Foxy] Replace / Remove ros2_control_test_nodes dependency

5

The test scripts depend on ros2_control_test_nodes, which is not released for Foxy (and probably will not, since for galactic+ it is included into ros2_controllers). We could provide our own testing...

fmauch

Dependency of test execution scripts is a bit weird...

1

The test scripts (for example [this](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/test/integration_test.py) have a weird dependency on `ur_bringup` using https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/24224994fb001b0d30acf6053eedfc27245c74c3/ur_robot_driver/test/integration_test.py#L78 This works as long as you have a source build, but seems like a horrible thing...

fmauch

Backport ursim_driver to foxy branch

3

resolves #270

destogl

scheduled binary builds are not running on expected branches?

2

I just tried to build a new workspace on ROS foxy using the binary-build method, so only with `ros2_control_demos`, `Universal_Robots_Client_Library`, `Universal_Robots_ROS2_Driver`, `ur_msgs` inside my workspace and it failed. One outcome...

fmauch