Universal_Robots_ROS_Driver

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How to use test_move.py and moveit

4

# Summary It might be hard to control robot by using python script "test_move.py". I share simple manual. # Versions - ROS Driver version: Melodic - Affected Robot Software Version(s):...

suho0515

Use thread sanitizer (tsan) to check data races

1

**Background** Recently, there was [an issue](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/447) about possible data races in the driver's hardware_interface (PR [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/448) by @AndyZe). While critical parts have been spotted, it might be reasonable to run...

stefanscherzinger

Report when/if Robot is in FreeDrive mode

1

# Summary In previous driver (ur_modern_driver), it is possible to know when robot is in freedrive mode. However, this is no longer possible in the new driver. I can confirm...

lavarock1234

Dashboard server disconnects on first execution after robot restart

20

# Summary Dashboard server disconnects on first run after robot restart with the Robotiq Gripper urcap installed on the teach pendant. # Versions - Ubuntu 18.04.3 with Real Time patch...

sharpe-developer

In the hardware_interface, some members should be atomic

2

It seems like `robot_program_running_` and `controller_reset_necessary_` should be std::atomic type for thread safety. I say this because it looks like there is potential to read the variables at the same...

AndyZe

Connection problems with UR5 CB3 robot

7

Hi! I experience the following problems while moving a UR5 robot with MoveIt using the ur_robot_driver: The system operates normally at first. After about 4 minutes (sometimes earlier) the robot...

stefanz-tri

Service for connection state

5

# Summary If the driver is started and connection to the robot is lost afterwards, the driver will continue to publish data on the /joint_state topic. Since there is no...

enabled-tfi

Script command by action API

6

# Enhancement Proposal Implement an action server API to launch and track arbitrary URScript execution. # Use case - track script execution status - return an error on a script...

khssnv

Tuning Parameters for Velocity Controller

3

I've been using the `compliance_controller`, which for reference can be located here: [compliance_controller](https://github.com/UTNuclearRobotics/ros_controllers/tree/melodic-compliance-updates) This is a velocity controller, and hence I've had to do a bit of tuning of the...

jbeck28

Model of internal controller

2

Hi! I'm trying to approximate the internal controller model of the Ur10 to use it in Simulation (approximate torques from position deviations). I need to approximate a similar model to...

macsmitty