Universal_Robots_ROS_Driver issues

Updated set payload, zero ftsensor and set tool voltage to use the ur…

…driver This makes it possible to call the commands when the robot is in local control if the external control script is running on the robot. This is a solution...

urmahp

waiting_for_sync

Dashboard service to query whether the robot is in remote control

2

This PR adds one of the missing calls, `is in remote control`, from the dashboard server. This is accessible through `raw request` but I thought it would be better to...

mgkwon

Extract force value from "wrench" topic.

1

I would like to extract one of the forces value, for example, force.z, from the rostopic "wrench". I tried many methods, but still not working. I am connecting a real...

ZZWang21

Solution proposed

Updated transformForceTorque to handle wheter it is a cb3 or an e-Ser…

1

…ies robot The force torque is returned at the tool flange on e-series robots and at the tcp for CB3, this is now handled correctly, so that all force/torque measurements...

urmahp

waiting_for_sync

Cannot locate external_control.script when lauching the driver.

2

When using the all source build and building the client library from source, it is not possible to locate the external_control.urscript from the client library, when launching the driver. See...

urmahp

bug

pose_based_cartesian_traj_controller causes robot to flip around and sometimes hit joint limits

12

# Summary When using the `pose_based_cartesian_traj_controller` on my UR5e, I cannot get deterministic behavior. It seems like every other time I run a trajectory, the robot decides to flip the...

cbteeple

question

PR pending

Displacement in the published tool frame using forward_cartesian_traj_controller

3

# Summary I am using URSim 5.12.0.1101482 to simulate a UR10e robot during development. In my urdf I have a rivet gun attached to the robot's end effector and I...

3473f

Trajectory Execution Failed Sliently due to "Sending data through socket failed."

3

# Summary *Introduction to the issue* When executing multiple trajectories sequentially using remote control, some trajectory may fail silently due to "Sending data through socket failed.". For example, when executing...

shuobh