Universal_Robots_ROS_Driver

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Since https://github.com/ros-industrial/universal_robot/pull/538 is merged, we can now direct users to the upstream repo directly.

fmauch

The [`setIO`](https://docs.ros.org/en/noetic/api/ur_msgs/html/srv/SetIO.html) service supports setting the tool voltage. However, this is currently [not supported](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/1eb7bf94a163a885d7bd49040f62f4160ce06fb9/ur_robot_driver/src/hardware_interface.cpp#L1100) by our wrapper. As setting this is not available through RTDE we would have to either...

fmauch

UR joints are overshooting

16

Hi. I have a question about the UR interface. I am currently operating a UR5e and the UR joints are overshooting. As shown in the video in the link, the...

fusano

Can't accept new action goals. Controller is not running

5

# Summary Your issue may already be reported! Please search on the [issue track](../) before creating one. *Introduction to the issue* Sometimes after running the robotic arm for a while,...

sadofatai

WIP: Use anchors and aliases for each joint in controller config + cleanup

4

This PR uses anchors and aliases on each robot joint and sets indentation level to 2 spaces (there were mixed indentation). This makes the following benefits: - Same indentation level...

captain-yoshi

UR5e with PC ros + moveit Can't accept new action goals Controller is not running.

2

Hi everyone, For moving the real robot I am using the default setup of universal robots repo (calibration-devel branch of fmauch) and the ur_robot_driver (melodic branch) of Universal_Robots_ROS_Driver. I am...

rrapi

is there any way to use control panel's functions with this driver?

1

I want to control end effector which can be controlled by URCap. Is there any way to use URCap with this driver? and also, is there any way to use...

LEESHOHYUN

FollowCartesianTrajectoryAction fails in a two-robot setup

3

# Summary I use a single computer to control two UR arms for synchronized motions. When calling the action server to execute a FollowCartesianTrajectoryAction on both robots, random outcomes appear:...

adkoessler

Switching between forward_joint_traj_controller and pose_based_cartesian_traj_controller produces unexpected results in URSim

2

# Summary I created a small script to have a service that brings my robot to a fixed joint configuration. To do so, I first switch to `forward_joint_traj_controller`, send a...

Makuh17

Add optional calibration step for all-source build

5

With the [all-source build](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#alternative-all-source-build), the [proposed calibration launch pkg](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/tree/master/ur_calibration#creating-a-calibration--launch-package-for-all-local-robots) fails to build, because it searches for the `ur_client_library` in the binary global space `/opt/ros/noetic`. With the proposed changes, it searches...

captain-yoshi