humble iron jazzy rolling noetic

ur_description package from ur_description repo

ur_description

Package Summary

Tags	No category tags.
Version	2.1.8
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
VCS Type	git
VCS Version	humble
Last Updated	2024-10-29
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

URDF description for Universal Robots

Additional Links

Maintainers

Felix Exner
Tristan Schnell
Lovro Ivanov
Denis Stogl

Authors

Nadia Hammoudeh Garcia
Kelsey Hawkins
G.A. vd. Hoorn
Lovro Ivanov
Mathias Ludtke
Wim Meeussen
Felix Messmer
Miguel Prada Sarasola
Denis Stogl
Andy Zelenak
Marvin Grosse Besselmann

README.md

Universal_Robots_ROS2_Description

This repository contains description files and meshes for Universal Robots manipulators.

Build status

ROS2 Distro	Branch	Released packages
Humble	`humble`	ur_description
Iron	`iron`	ur_description
Jazzy	`rolling`	ur_description
Rolling	`rolling`	ur_description

A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

Universal Robots’ Terms and Conditions for use of Graphical Documentation do not fully comply with OSI’s definition of Open Source, but they do allow you to use, modify and share “Graphical Documentation”, including UR20 and UR30 meshes, subject to certain restrictions.
If you have any questions regarding this license or if this license doesn’t fit your use-case, please contact legal@universal-robots.com.

All other content is licensed under the BSD-3-Clause license

Structure of the repository

The most relevant files are:

urdf/ur_macro.xacro - macro file with UR-manipulator description. This file is usually included into external projects to visualize and configure UR manipulators properly. An example how to use this macro is in urdf/ur.urdf.xacro file.
urdf/ur.ros2_control.xacro - definition of manipulator’s joints and interfaces for ros2_control framework.

Testing description of a manipulator

To visualize the robot install this repository to you workspace and execute the following:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

To test other descriptions change the ur_type argument.

Package / Description structure

This package uses one description for all robots. The different robot variants are configured using four configuration files. These files can also be changed for further customizing a description.

urdf structure

Basically, the description can be modified using configuration values stored in four files:

config/urXX/default_kinematics.yaml - This contains the calibration values as they can be extracted from the robot. Changing these values with the one extracted from a real robot will result in a description matching the real robot exactly (w.r.t the tool0 frame). It is highly recommended to use matching kinematic values in real-world applications.
config/urXX/joint_limits.yaml - If you’d like to further restrict the robot’s joint limits, these limits can be modified there.
config/urXX/physical_parameters.yaml - Everything regarding physics simulation parameters (e.g. inertia poses and values) can be tuned here
config/urXX/visual_parameters.yaml - Some users change certain visual aspects, e.g. replacing the cap on the wrist_3_link. This config file specifies which meshes (both, visual and collision) should be used.

The four configuration files have to be passed to ur_macro.urdf (more specific to the macro defined in that file) which is done inside the ur.urdf.xacro. Contents of the files are parsed inside ur_common.xacro.

Arguments that have to be passed to the main ur.urdf.xacro file are:

kinematics_params - Filename to the default_kinematics.yaml (or equivalent specific kinematics) file
joint_limit_params - Filename to the joint_limits.yaml file
physical_params - Filename to the physical_parameters.yaml file
visual_params - Filename to the visual_params.yaml file

The launchfile launch/view_ur.launch.py abstracts these four parameters to one ur_type argument which will basically replace the urXX part of the paths as shown in the picture above.

Creating your own description including this description

In real-world applications you will most probably have a more complex description consisting of more objects than just the robot. It is recommended to create a separate ROS package containing this particular description. Inside this description you could also store your robot-specific kinematics parameters file.

As mentioned above, see the urdf/ur.urdf.xacro file as an example to integrate a UR robot into your scene description. Basically, you could create a copy of that file and extend it with the modifications from your specific scene.

CHANGELOG

Changelog for package ur_description

2.1.8 (2024-10-28)

Add analog_output_domain_cmd command interface (baclport of #219)
Add a sensor for the TCP pose (backport of #197)
Add missing state interfaces for get_version service (backport of #216)
Ur3 infinite wrist (backport of #196)
Update dynamic properties (backport of #195)
Contributors: mergify[bot], Felix Exner, Rune Søe-Knudsen

2.1.7 (2024-09-10)

Fix masses of robot links (backport of #187)
Contributors: Felix Exner

2.1.6 (2024-08-09)

Fixed typo in README.md (#176)
Added dynamics tag when using mock_components/GenericSystem (backport of #175)
Auto-update pre-commit hooks (#171) (#172)
Remove ros2_control limit params (#168)
Add Jazzy to the README (#163)
Contributors: Filippo Bosi, Niccolo, Felix Exner

2.1.5 (2024-04-25)

Fix multi-line strings in DeclareLaunchArgument ( backport of #140) (#153)
Fix default calibration file for UR30 (#148)
Contributors: Matthijs van der Burgh, Felix Exner

2.1.4 (2024-04-04)

Update Graphical Documentation license to version 1.01 (#143)
Add UR30 model (#142)
Make sure the UR5 models are actually standing on the ground (#136)
Contributors: Felix Exner, RobertWilbrandt, Vincenzo Di Pentima

2.1.3 (2023-12-18)

Make ros2_control tag generation optional in macro (#121)
Contributors: Felix Exner (fexner)

2.1.2 (2023-11-17)

Add license comment to package.xml (#107)
License update for README (#108)
Default to non_blocking_read=true (#115)
added possibility to change reverse_port, script_sender_port and trajectory_port (#105) (#106)
Update README regarding distribution branches (#80) (#86)
Contributors: Felix Exner, Rune Søe-Knudsen, mergify[bot]

2.1.1 (2023-09-08)

Update the joint limits for UR20 (#99)
UR20 description and meshes (#94) The UR20 meshes are added under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation Co-authored-by: Rune Søe-Knudsen <<41109954+urrsk@users.noreply.github.com>>
Revert "Switch fake to mock for ros2_control updates (#77)"
Switch fake to mock for ros2_control updates (#77)
CI: Add iron workflow (#64)
Contributors: Felix Exner, Sebastian Castro, Rune Søe-Knudsen

2.1.0 (2023-06-01)

added missing handback interface - ros2control mock interface won't work otherwise (#68) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
remove ticks from tf_prefix (#60) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
Replace duplicated prefix parameter with tf_prefix
Whitespace fixes
Update pre-commit workflows to current versions
This commits adds additional configuration fields which are needed for multiarm support: (#47)
- Added trajectory_port - Port needed for the trajectory sending interface
- Added non_blocking_read - Takes control of the update rate from ur interface by immediately returning from the read method
- Added keep_alive_count field - Configures the amount of allowed reading timeouts on the robot side Additionally it adds the ${prefix} argument for the gpios and the force torque sensor in the ur.ros2_control.xacro file Co-authored-by: Lennart Nachtigall <<firesurfer@firesurfer.de>>
Set the default tool voltage in the description to 0 (#41) I am not sure whether this will actually affect something, as I don't think we actually set the value initially, but it still makes sense to keep the default tool voltage at 0 to emphasize that by default, this will not be set higher.
Run prerelease tests on current distros (#44)
Contributors: Felix Exner, Felix Exner (fexner), Lennart Nachtigall

2.0.1 (2022-11-08)

Add tool voltage and zero ft sensor to command interface (#38) Added reverse ip and script command interface port as parameters
use xacro.load_yaml in favor of deprecated version (#43) Co-authored-by: aditya <<aditya@nimble.ai>>
Use mock_components instead of fake_components (#37) This has been renamed in ros2_control hardware_interface.
Prepare for branching out galactic (#39)
- Add Humble to README and workflows
- Use galactic branch for galactic stuff
Contributors: Abishalini Sivaraman, Aditya Agarwal, Felix Exner, Mads Holm Peters

2.0.0 (2022-03-17)

Migrated the description to ROS2
Added support for Gazebo and Ignition
Added ROS2_control definitions
Contributors: AndyZe, Denis Stogl, Denis Štogl, Felix Exner, John Morris, Jorge Nicho, Lovro, Lukas Sackewitz, Marvin Große Besselmann, Robert Wilbrandt, Tirine, Vatan Aksoy Tezer, livanov93, urmahp

1.2.7 (2019-11-23)

1.2.6 (2019-11-19)

Add optional safety_controller tags to all joints in xacro macros (#437)
Migrated all package.xml files to format=2 (#439)
Corrected dimensions and positions of inertias (#426)
Add description view launch files for all descriptions to easily check them (#435)
Contributors: Felix Mauch, JeremyZoss, Miguel Prada, Qiang Qiu, gavanderhoorn

1.2.5 (2019-04-05)

Add transmission_hw_interface to UR xacro and expose everywhere (#392)
Update maintainer listing: add Miguel (#410)
Updated xacro namespace.
Update maintainer and author information.
Updated mesh ambience so the model isn't so dark in Gazebo
Fix overlapping variable names between robot definition files (#356)
Improve meshes shading (#233)
Added run_depend for xacro
Using the 'doc' attribute on 'arg' elements.
Enable self collision in gazebo
Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm

1.2.1 (2018-01-06)

Merge pull request #329 from tecnalia-medical-robotics/joint_limits Homogenize xacro macro arguments.
Merge pull request #332 from davetcoleman/kinetic_hw_iface_warning Remove UR3 ROS Control Hardware Interface warning
Remove UR3 ROS Control Hardware Interface warning
Extend changes to '_robot.urdf.xacro' variants as well.
Homogenize xacro macro arguments. Joint limits for the limited version could be set using arguments for the UR10 but not for the UR3 and UR5. Same lower and upper limit arguments are added to the UR3 and UR5 xacro macros.
Fix elbow joint limits (#268)
Remove warning 'redefining global property: pi' (Jade+) (#315)
Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

reintroduce 'pi', unbrake dependent xacros.
use '--inorder' to trigger use of jade+ xacro on Indigo.
Contributors: gavanderhoorn

1.1.8 (2016-12-30)

all: update maintainers.
Contributors: gavanderhoorn

1.1.7 (2016-12-29)

Fix xacro warnings in Jade (#251)
added default values to xacro macro
tested joint limits modification
Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04

1.1.6 (2016-04-01)

unify mesh names
add color to avoid default color 'red' for collision meshes
use correct DH parameter + colored meshes
introducing urdf for ur3 - first draft
unify common xacro files
remove obsolete urdf files
description: add '_joint' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that 'base' is essentially 'base_link' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. 'tool0' is similar to 'ee_link', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
description: minor whitespace cleanup of UR5 & 10 xacros.
regenerate urdf files
use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
Contributors: gavanderhoorn, ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

changes due to file renaming
generate urdfs from latest xacros
file renaming
adapt launch files in order to be able to use normal/limited xacro
fixed typo in limits
add joint_limited urdf.xacros for both robots
(re-)add ee_link for both robots
updates for latest gazebo under hydro
remove ee_link - as in ur10
use same xacro params as ur10
use new transmission interfaces
update xml namespaces for hydro
remove obsolete urdf file
remove obsolete urdf file
Contributors: ipa-fxm
Update ur10.urdf.xacro Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
added corrected mesh file
Added definitions for adding tergets in install folder. Issue #10.
Corrected warning on xacro-files in hydro.
Added definitions for adding tergets in install folder. Issue #10.
Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
fixed name of ur5 transmissions
patched gazebo.urdf.xacro to be compatible with gazebo 1.5
fixed copy&paste error (?)
prefix versions of gazebo and transmission macros
Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
Updated urdf files use collision/visual models.
Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
minor changes on ur5 xacro files
Removed extra stl files and fixed indentions
Renamed packages and new groovy version
Added ur10 and renamed packages
Contributors: Denis Štogl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	joint_state_publisher_gui
	launch
	launch_ros
	robot_state_publisher
	rviz2
	urdf
	xacro
	ament_cmake_pytest
	launch_testing_ament_cmake
	launch_testing_ros

System Dependencies

Name
liburdfdom-tools

Dependant Packages

Name	Deps
ur_bringup
ur_moveit_config
ur_robot_driver
ur_simulation_gz
clearpath_manipulators_description

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ur_description` at Robotics Stack Exchange

API Docs Browse Code Wiki

ur_description package from ur_description repo

ur_description

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.3.3
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
VCS Type	git
VCS Version	iron
Last Updated	2024-10-29
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

URDF description for Universal Robots

Additional Links

Maintainers

Felix Exner
Tristan Schnell
Lovro Ivanov
Denis Stogl

Authors

Nadia Hammoudeh Garcia
Kelsey Hawkins
G.A. vd. Hoorn
Lovro Ivanov
Mathias Ludtke
Wim Meeussen
Felix Messmer
Miguel Prada Sarasola
Denis Stogl
Andy Zelenak
Marvin Grosse Besselmann

README.md

Universal_Robots_ROS2_Description

This repository contains description files and meshes for Universal Robots manipulators.

Build status

ROS2 Distro	Branch	Released packages
Humble	`humble`	ur_description
Iron	`iron`	ur_description
Jazzy	`rolling`	ur_description
Rolling	`rolling`	ur_description

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

All other content is licensed under the BSD-3-Clause license

Structure of the repository

The most relevant files are:

urdf/ur_macro.xacro - macro file with UR-manipulator description. This file is usually included into external projects to visualize and configure UR manipulators properly. An example how to use this macro is in urdf/ur.urdf.xacro file.
urdf/ur.ros2_control.xacro - definition of manipulator’s joints and interfaces for ros2_control framework.

Testing description of a manipulator

To visualize the robot install this repository to you workspace and execute the following:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

To test other descriptions change the ur_type argument.

Package / Description structure

This package uses one description for all robots. The different robot variants are configured using four configuration files. These files can also be changed for further customizing a description.

urdf structure

Basically, the description can be modified using configuration values stored in four files:

config/urXX/default_kinematics.yaml - This contains the calibration values as they can be extracted from the robot. Changing these values with the one extracted from a real robot will result in a description matching the real robot exactly (w.r.t the tool0 frame). It is highly recommended to use matching kinematic values in real-world applications.
config/urXX/joint_limits.yaml - If you’d like to further restrict the robot’s joint limits, these limits can be modified there.
config/urXX/physical_parameters.yaml - Everything regarding physics simulation parameters (e.g. inertia poses and values) can be tuned here
config/urXX/visual_parameters.yaml - Some users change certain visual aspects, e.g. replacing the cap on the wrist_3_link. This config file specifies which meshes (both, visual and collision) should be used.

The four configuration files have to be passed to ur_macro.urdf (more specific to the macro defined in that file) which is done inside the ur.urdf.macro. Contents of the files are parsed inside ur_common.xacro.

Arguments that have to be passed to the main ur.urdf.xacro file are:

kinematics_params - Filename to the default_kinematics.yaml (or equivalent specific kinematics) file
joint_limit_params - Filename to the joint_limits.yaml file
physical_params - Filename to the physical_parameters.yaml file
visual_params - Filename to the visual_params.yaml file

The launchfile launch/view_ur.launch.py abstracts these four parameters to one ur_type argument which will basically replace the urXX part of the paths as shown in the picture above.

Creating your own description including this description

CHANGELOG

Changelog for package ur_description

2.3.3 (2024-10-28)

Add analog_output_domain_cmd command interface (#219)
Add a sensor for the TCP pose (backport of #197)
Add missing state interfaces for get_version service (#216)
Ur3 infinite wrist (backport of #196)
Update dynamic properties (backport of #195)
Contributors: Felix Exner (fexner), mergify[bot], Rune Søe-Knudsen

2.3.2 (2024-09-10)

Fix masses of robot links (backport of #187)
Contributors: Felix Exner

2.3.1 (2024-08-09)

Added dynamics tag when using mock_components/GenericSystem (#175)
Remove ros2_control limit params (#167)
Add Jazzy to the README (#164)
Contributors: Felix Exner, Niccolo

2.3.0 (2024-04-25)

Update CI for iron
Fix multi-line strings in DeclareLaunchArgument (backport of #140) (#154) Co-authored-by: Matthijs van der Burgh <<matthijs.vander.burgh@live.nl>>
Fix default calibration file for UR30 (#151)
Update description for using gz The ign libs don't exist anymore on iron.
Contributors: Felix Exner, Matthijs van der Burgh

2.1.4 (2024-04-04)

Update Graphical Documentation license to version 1.01 (#143)
Add UR30 model (#142)
Make sure the UR5 models are actually standing on the ground (#136)
Contributors: Felix Exner, RobertWilbrandt, Vincenzo Di Pentima

2.1.3 (2023-12-18)

Make ros2_control tag generation optional in macro (#121)
Contributors: Felix Exner (fexner)

2.1.2 (2023-11-17)

Add license comment to package.xml (#107)
License update for README (#108)
Default to non_blocking_read=true (#115)
added possibility to change reverse_port, script_sender_port and trajectory_port (#105) (#106)
Update README regarding distribution branches (#80) (#86)
Contributors: Felix Exner, Rune Søe-Knudsen, mergify[bot]

2.1.1 (2023-09-08)

Update the joint limits for UR20 (#99)
UR20 description and meshes (#94) The UR20 meshes are added under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation Co-authored-by: Rune Søe-Knudsen <<41109954+urrsk@users.noreply.github.com>>
Revert "Switch fake to mock for ros2_control updates (#77)"
Switch fake to mock for ros2_control updates (#77)
CI: Add iron workflow (#64)
Contributors: Felix Exner, Sebastian Castro, Rune Søe-Knudsen

2.1.0 (2023-06-01)

added missing handback interface - ros2control mock interface won't work otherwise (#68) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
remove ticks from tf_prefix (#60) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
Replace duplicated prefix parameter with tf_prefix
Whitespace fixes
Update pre-commit workflows to current versions
This commits adds additional configuration fields which are needed for multiarm support: (#47)
- Added trajectory_port - Port needed for the trajectory sending interface
- Added non_blocking_read - Takes control of the update rate from ur interface by immediately returning from the read method
- Added keep_alive_count field - Configures the amount of allowed reading timeouts on the robot side Additionally it adds the ${prefix} argument for the gpios and the force torque sensor in the ur.ros2_control.xacro file Co-authored-by: Lennart Nachtigall <<firesurfer@firesurfer.de>>
Set the default tool voltage in the description to 0 (#41) I am not sure whether this will actually affect something, as I don't think we actually set the value initially, but it still makes sense to keep the default tool voltage at 0 to emphasize that by default, this will not be set higher.
Run prerelease tests on current distros (#44)
Contributors: Felix Exner, Felix Exner (fexner), Lennart Nachtigall

2.0.1 (2022-11-08)

Add tool voltage and zero ft sensor to command interface (#38) Added reverse ip and script command interface port as parameters
use xacro.load_yaml in favor of deprecated version (#43) Co-authored-by: aditya <<aditya@nimble.ai>>
Use mock_components instead of fake_components (#37) This has been renamed in ros2_control hardware_interface.
Prepare for branching out galactic (#39)
- Add Humble to README and workflows
- Use galactic branch for galactic stuff
Contributors: Abishalini Sivaraman, Aditya Agarwal, Felix Exner, Mads Holm Peters

2.0.0 (2022-03-17)

Migrated the description to ROS2
Added support for Gazebo and Ignition
Added ROS2_control definitions
Contributors: AndyZe, Denis Stogl, Denis Štogl, Felix Exner, John Morris, Jorge Nicho, Lovro, Lukas Sackewitz, Marvin Große Besselmann, Robert Wilbrandt, Tirine, Vatan Aksoy Tezer, livanov93, urmahp

1.2.7 (2019-11-23)

1.2.6 (2019-11-19)

Add optional safety_controller tags to all joints in xacro macros (#437)
Migrated all package.xml files to format=2 (#439)
Corrected dimensions and positions of inertias (#426)
Add description view launch files for all descriptions to easily check them (#435)
Contributors: Felix Mauch, JeremyZoss, Miguel Prada, Qiang Qiu, gavanderhoorn

1.2.5 (2019-04-05)

Add transmission_hw_interface to UR xacro and expose everywhere (#392)
Update maintainer listing: add Miguel (#410)
Updated xacro namespace.
Update maintainer and author information.
Updated mesh ambience so the model isn't so dark in Gazebo
Fix overlapping variable names between robot definition files (#356)
Improve meshes shading (#233)
Added run_depend for xacro
Using the 'doc' attribute on 'arg' elements.
Enable self collision in gazebo
Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm

1.2.1 (2018-01-06)

Merge pull request #329 from tecnalia-medical-robotics/joint_limits Homogenize xacro macro arguments.
Merge pull request #332 from davetcoleman/kinetic_hw_iface_warning Remove UR3 ROS Control Hardware Interface warning
Remove UR3 ROS Control Hardware Interface warning
Extend changes to '_robot.urdf.xacro' variants as well.
Homogenize xacro macro arguments. Joint limits for the limited version could be set using arguments for the UR10 but not for the UR3 and UR5. Same lower and upper limit arguments are added to the UR3 and UR5 xacro macros.
Fix elbow joint limits (#268)
Remove warning 'redefining global property: pi' (Jade+) (#315)
Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

reintroduce 'pi', unbrake dependent xacros.
use '--inorder' to trigger use of jade+ xacro on Indigo.
Contributors: gavanderhoorn

1.1.8 (2016-12-30)

all: update maintainers.
Contributors: gavanderhoorn

1.1.7 (2016-12-29)

Fix xacro warnings in Jade (#251)
added default values to xacro macro
tested joint limits modification
Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04

1.1.6 (2016-04-01)

unify mesh names
add color to avoid default color 'red' for collision meshes
use correct DH parameter + colored meshes
introducing urdf for ur3 - first draft
unify common xacro files
remove obsolete urdf files
description: add '_joint' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that 'base' is essentially 'base_link' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. 'tool0' is similar to 'ee_link', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
description: minor whitespace cleanup of UR5 & 10 xacros.
regenerate urdf files
use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
Contributors: gavanderhoorn, ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

changes due to file renaming
generate urdfs from latest xacros
file renaming
adapt launch files in order to be able to use normal/limited xacro
fixed typo in limits
add joint_limited urdf.xacros for both robots
(re-)add ee_link for both robots
updates for latest gazebo under hydro
remove ee_link - as in ur10
use same xacro params as ur10
use new transmission interfaces
update xml namespaces for hydro
remove obsolete urdf file
remove obsolete urdf file
Contributors: ipa-fxm
Update ur10.urdf.xacro Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
added corrected mesh file
Added definitions for adding tergets in install folder. Issue #10.
Corrected warning on xacro-files in hydro.
Added definitions for adding tergets in install folder. Issue #10.
Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
fixed name of ur5 transmissions
patched gazebo.urdf.xacro to be compatible with gazebo 1.5
fixed copy&paste error (?)
prefix versions of gazebo and transmission macros
Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
Updated urdf files use collision/visual models.
Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
minor changes on ur5 xacro files
Removed extra stl files and fixed indentions
Renamed packages and new groovy version
Added ur10 and renamed packages
Contributors: Denis Štogl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	joint_state_publisher_gui
	launch
	launch_ros
	robot_state_publisher
	rviz2
	urdf
	xacro
	ament_cmake_pytest
	launch_testing_ament_cmake
	launch_testing_ros

System Dependencies

Name
liburdfdom-tools

Dependant Packages

Name	Deps
ur_moveit_config
ur_robot_driver
ur_simulation_gz

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ur_description` at Robotics Stack Exchange

API Docs Browse Code Wiki

ur_description package from ur_description repo

ur_description

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.4.5
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
VCS Type	git
VCS Version	rolling
Last Updated	2024-10-27
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

URDF description for Universal Robots

Additional Links

Maintainers

Felix Exner
Tristan Schnell
Lovro Ivanov
Denis Stogl

Authors

Nadia Hammoudeh Garcia
Kelsey Hawkins
G.A. vd. Hoorn
Lovro Ivanov
Mathias Ludtke
Wim Meeussen
Felix Messmer
Miguel Prada Sarasola
Denis Stogl
Andy Zelenak
Marvin Grosse Besselmann

README.md

Universal_Robots_ROS2_Description

This repository contains description files and meshes for Universal Robots manipulators.

Build status

ROS2 Distro	Branch	Released packages
Humble	`humble`	ur_description
Iron	`iron`	ur_description
Jazzy	`rolling`	ur_description
Rolling	`rolling`	ur_description

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

All other content is licensed under the BSD-3-Clause license

Testing description of a manipulator

To visualize the robot install this repository to you workspace and execute the following:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

To test other descriptions change the ur_type argument.

Further documentation

For further documentation about this description, please see doc/index.rst.

CHANGELOG

Changelog for package ur_description

2.4.5 (2024-10-14)

Revert "Add passthrough command interfaces for joints (#204)" (#214)
Auto-update pre-commit hooks (#211)
Contributors: Felix Exner (fexner), github-actions[bot]

2.4.4 (2024-10-10)

Add a sensor for the TCP pose (#197)
Add passthrough command interfaces for joints (#204)
Ur3 infinite wrist (#196)
Update dynamic properties (#195) Co-authored-by: Rune Søe-Knudsen <<41109954+urrsk@users.noreply.github.com>>
Contributors: Chalongrath Pholsiri, Felix Exner (fexner), URJala, Rune Søe-Knudsen

2.4.3 (2024-09-10)

Fix masses of robot links (#187)
Contributors: Felix Exner (fexner)

2.4.2 (2024-08-09)

Added dynamics tag when using mock_components/GenericSystem (#181)
Contributors: Felix Exner (fexner)

2.4.1 (2024-06-19)

Add migration notes for jazzy (#169)
Remove limits definitions from ros2_control command interfaces (#166)
Sphinx doc (#161)
Use absolute paths for configurable files (#160)
[CI] Fix ref for scheduled jazzy testing binary build (#162)
Add Jazzy to the README (#158)
Contributors: Felix Exner, Vincenzo Di Pentima

2.4.0 (2024-04-25)

Fix multi-line strings in DeclareLaunchArgument (#140)
Add mergify rule for iron branch (#120)
Fix default calibration file for UR30
Contributors: Felix Exner, Matthijs van der Burgh, RobertWilbrandt

2.2.5 (2024-04-04)

Auto-update pre-commit hooks (#130)
Bump pre-commit/action from 3.0.0 to 3.0.1 (#134)
Bump peter-evans/create-pull-request from 5 to 6 (#133)
Update Graphical Documentation license to version 1.01
Make sure the UR5 models are actually standing on the ground
Contributors: Felix Exner, dependabot[bot], github-actions[bot]

2.2.4 (2023-12-22)

Add UR30 model (#126)
Contributors: Felix Exner (fexner)

2.2.3 (2023-12-18)

Auto-update pre-commit hooks (#123)
Bump actions/setup-python from 4 to 5 (#122)
Remove ros2_control tag from package (#114)
Contributors: Felix Exner

2.2.2 (2023-11-15)

Default to non_blocking_read=true (#111)
Add license comment to package.xml (#107)
License update for README (#108)
added possibility to change reverse_port, script_sender_port and trajectory_port (#105)
Contributors: Felix Durchdewald, Felix Exner, Rune Søe-Knudsen, dependabot[bot], github-actions[bot]

2.2.1 (2023-09-08)

Update the joint limits for UR20 (#98)
UR20 description and meshes (#94) The UR20 meshes are added under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation
Contributors: Rune Søe-Knudsen, Felix Exner

2.2.0 (2023-08-28)

Auto-update pre-commit hooks
Do not require upstream ws in ici
Auto-update pre-commit hooks (#88)
Bump ros-tooling/setup-ros from 0.2 to 0.7 (#83)
Bump pat-s/always-upload-cache from 2.1.5 to 3.0.11 (#84)
Bump actions/checkout from 1 to 3 (#85)
Update README regarding distribution branches (#80)
Add mergify, dependabot and pre-commit update
Switch fake to mock for ros2_control updates (#77)
Add iron workflow (#64)
Contributors: Felix Exner, Sebastian Castro, dependabot[bot], github-actions[bot]

2.1.0 (2023-06-01)

added missing handback interface - ros2control mock interface won't work otherwise (#68) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
remove ticks from tf_prefix (#60) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
Replace duplicated prefix parameter with tf_prefix
Whitespace fixes
Update pre-commit workflows to current versions
This commits adds additional configuration fields which are needed for multiarm support: (#47)
- Added trajectory_port - Port needed for the trajectory sending interface
- Added non_blocking_read - Takes control of the update rate from ur interface by immediately returning from the read method
- Added keep_alive_count field - Configures the amount of allowed reading timeouts on the robot side Additionally it adds the ${prefix} argument for the gpios and the force torque sensor in the ur.ros2_control.xacro file Co-authored-by: Lennart Nachtigall <<firesurfer@firesurfer.de>>
Set the default tool voltage in the description to 0 (#41) I am not sure whether this will actually affect something, as I don't think we actually set the value initially, but it still makes sense to keep the default tool voltage at 0 to emphasize that by default, this will not be set higher.
Run prerelease tests on current distros (#44)
Contributors: Felix Exner, Felix Exner (fexner), Lennart Nachtigall

2.0.1 (2022-11-08)

Add tool voltage and zero ft sensor to command interface (#38) Added reverse ip and script command interface port as parameters
use xacro.load_yaml in favor of deprecated version (#43) Co-authored-by: aditya <<aditya@nimble.ai>>
Use mock_components instead of fake_components (#37) This has been renamed in ros2_control hardware_interface.
Prepare for branching out galactic (#39)
- Add Humble to README and workflows
- Use galactic branch for galactic stuff
Contributors: Abishalini Sivaraman, Aditya Agarwal, Felix Exner, Mads Holm Peters

2.0.0 (2022-03-17)

Migrated the description to ROS2
Added support for Gazebo and Ignition
Added ROS2_control definitions
Contributors: AndyZe, Denis Stogl, Denis Štogl, Felix Exner, John Morris, Jorge Nicho, Lovro, Lukas Sackewitz, Marvin Große Besselmann, Robert Wilbrandt, Tirine, Vatan Aksoy Tezer, livanov93, urmahp

1.2.7 (2019-11-23)

1.2.6 (2019-11-19)

Add optional safety_controller tags to all joints in xacro macros (#437)
Migrated all package.xml files to format=2 (#439)
Corrected dimensions and positions of inertias (#426)
Add description view launch files for all descriptions to easily check them (#435)
Contributors: Felix Mauch, JeremyZoss, Miguel Prada, Qiang Qiu, gavanderhoorn

1.2.5 (2019-04-05)

Add transmission_hw_interface to UR xacro and expose everywhere (#392)
Update maintainer listing: add Miguel (#410)
Updated xacro namespace.
Update maintainer and author information.
Updated mesh ambience so the model isn't so dark in Gazebo
Fix overlapping variable names between robot definition files (#356)
Improve meshes shading (#233)
Added run_depend for xacro
Using the 'doc' attribute on 'arg' elements.
Enable self collision in gazebo
Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm

1.2.1 (2018-01-06)

Merge pull request #329 from tecnalia-medical-robotics/joint_limits Homogenize xacro macro arguments.
Merge pull request #332 from davetcoleman/kinetic_hw_iface_warning Remove UR3 ROS Control Hardware Interface warning
Remove UR3 ROS Control Hardware Interface warning
Extend changes to '_robot.urdf.xacro' variants as well.
Homogenize xacro macro arguments. Joint limits for the limited version could be set using arguments for the UR10 but not for the UR3 and UR5. Same lower and upper limit arguments are added to the UR3 and UR5 xacro macros.
Fix elbow joint limits (#268)
Remove warning 'redefining global property: pi' (Jade+) (#315)
Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

reintroduce 'pi', unbrake dependent xacros.
use '--inorder' to trigger use of jade+ xacro on Indigo.
Contributors: gavanderhoorn

1.1.8 (2016-12-30)

all: update maintainers.
Contributors: gavanderhoorn

1.1.7 (2016-12-29)

Fix xacro warnings in Jade (#251)
added default values to xacro macro
tested joint limits modification
Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04

1.1.6 (2016-04-01)

unify mesh names
add color to avoid default color 'red' for collision meshes
use correct DH parameter + colored meshes
introducing urdf for ur3 - first draft
unify common xacro files
remove obsolete urdf files
description: add '_joint' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that 'base' is essentially 'base_link' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. 'tool0' is similar to 'ee_link', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
description: minor whitespace cleanup of UR5 & 10 xacros.
regenerate urdf files
use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
Contributors: gavanderhoorn, ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

changes due to file renaming
generate urdfs from latest xacros
file renaming
adapt launch files in order to be able to use normal/limited xacro
fixed typo in limits
add joint_limited urdf.xacros for both robots
(re-)add ee_link for both robots
updates for latest gazebo under hydro
remove ee_link - as in ur10
use same xacro params as ur10
use new transmission interfaces
update xml namespaces for hydro
remove obsolete urdf file
remove obsolete urdf file
Contributors: ipa-fxm
Update ur10.urdf.xacro Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
added corrected mesh file
Added definitions for adding tergets in install folder. Issue #10.
Corrected warning on xacro-files in hydro.
Added definitions for adding tergets in install folder. Issue #10.
Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
fixed name of ur5 transmissions
patched gazebo.urdf.xacro to be compatible with gazebo 1.5
fixed copy&paste error (?)
prefix versions of gazebo and transmission macros
Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
Updated urdf files use collision/visual models.
Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
minor changes on ur5 xacro files
Removed extra stl files and fixed indentions
Renamed packages and new groovy version
Added ur10 and renamed packages
Contributors: Denis Štogl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	joint_state_publisher_gui
	launch
	launch_ros
	robot_state_publisher
	rviz2
	urdf
	xacro
	ament_cmake_pytest
	launch_testing_ament_cmake
	launch_testing_ros

System Dependencies

Name
liburdfdom-tools

Dependant Packages

Name	Deps
ur_moveit_config
ur_robot_driver
ur_simulation_gz

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ur_description` at Robotics Stack Exchange

API Docs Browse Code Wiki

ur_description package from ur_description repo

ur_description

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.4.5
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
VCS Type	git
VCS Version	rolling
Last Updated	2024-10-27
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

URDF description for Universal Robots

Additional Links

Maintainers

Felix Exner
Tristan Schnell
Lovro Ivanov
Denis Stogl

Authors

Nadia Hammoudeh Garcia
Kelsey Hawkins
G.A. vd. Hoorn
Lovro Ivanov
Mathias Ludtke
Wim Meeussen
Felix Messmer
Miguel Prada Sarasola
Denis Stogl
Andy Zelenak
Marvin Grosse Besselmann

README.md

Universal_Robots_ROS2_Description

This repository contains description files and meshes for Universal Robots manipulators.

Build status

ROS2 Distro	Branch	Released packages
Humble	`humble`	ur_description
Iron	`iron`	ur_description
Jazzy	`rolling`	ur_description
Rolling	`rolling`	ur_description

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

All other content is licensed under the BSD-3-Clause license

Testing description of a manipulator

To visualize the robot install this repository to you workspace and execute the following:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

To test other descriptions change the ur_type argument.

Further documentation

For further documentation about this description, please see doc/index.rst.

CHANGELOG

Changelog for package ur_description

2.4.5 (2024-10-14)

Revert "Add passthrough command interfaces for joints (#204)" (#214)
Auto-update pre-commit hooks (#211)
Contributors: Felix Exner (fexner), github-actions[bot]

2.4.4 (2024-10-10)

Add a sensor for the TCP pose (#197)
Add passthrough command interfaces for joints (#204)
Ur3 infinite wrist (#196)
Update dynamic properties (#195) Co-authored-by: Rune Søe-Knudsen <<41109954+urrsk@users.noreply.github.com>>
Contributors: Chalongrath Pholsiri, Felix Exner (fexner), URJala, Rune Søe-Knudsen

2.4.3 (2024-09-10)

Fix masses of robot links (#187)
Contributors: Felix Exner (fexner)

2.4.2 (2024-08-09)

Added dynamics tag when using mock_components/GenericSystem (#181)
Contributors: Felix Exner (fexner)

2.4.1 (2024-06-19)

Add migration notes for jazzy (#169)
Remove limits definitions from ros2_control command interfaces (#166)
Sphinx doc (#161)
Use absolute paths for configurable files (#160)
[CI] Fix ref for scheduled jazzy testing binary build (#162)
Add Jazzy to the README (#158)
Contributors: Felix Exner, Vincenzo Di Pentima

2.4.0 (2024-04-25)

Fix multi-line strings in DeclareLaunchArgument (#140)
Add mergify rule for iron branch (#120)
Fix default calibration file for UR30
Contributors: Felix Exner, Matthijs van der Burgh, RobertWilbrandt

2.2.5 (2024-04-04)

Auto-update pre-commit hooks (#130)
Bump pre-commit/action from 3.0.0 to 3.0.1 (#134)
Bump peter-evans/create-pull-request from 5 to 6 (#133)
Update Graphical Documentation license to version 1.01
Make sure the UR5 models are actually standing on the ground
Contributors: Felix Exner, dependabot[bot], github-actions[bot]

2.2.4 (2023-12-22)

Add UR30 model (#126)
Contributors: Felix Exner (fexner)

2.2.3 (2023-12-18)

Auto-update pre-commit hooks (#123)
Bump actions/setup-python from 4 to 5 (#122)
Remove ros2_control tag from package (#114)
Contributors: Felix Exner

2.2.2 (2023-11-15)

Default to non_blocking_read=true (#111)
Add license comment to package.xml (#107)
License update for README (#108)
added possibility to change reverse_port, script_sender_port and trajectory_port (#105)
Contributors: Felix Durchdewald, Felix Exner, Rune Søe-Knudsen, dependabot[bot], github-actions[bot]

2.2.1 (2023-09-08)

Update the joint limits for UR20 (#98)
UR20 description and meshes (#94) The UR20 meshes are added under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation
Contributors: Rune Søe-Knudsen, Felix Exner

2.2.0 (2023-08-28)

Auto-update pre-commit hooks
Do not require upstream ws in ici
Auto-update pre-commit hooks (#88)
Bump ros-tooling/setup-ros from 0.2 to 0.7 (#83)
Bump pat-s/always-upload-cache from 2.1.5 to 3.0.11 (#84)
Bump actions/checkout from 1 to 3 (#85)
Update README regarding distribution branches (#80)
Add mergify, dependabot and pre-commit update
Switch fake to mock for ros2_control updates (#77)
Add iron workflow (#64)
Contributors: Felix Exner, Sebastian Castro, dependabot[bot], github-actions[bot]

2.1.0 (2023-06-01)

added missing handback interface - ros2control mock interface won't work otherwise (#68) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
remove ticks from tf_prefix (#60) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
Replace duplicated prefix parameter with tf_prefix
Whitespace fixes
Update pre-commit workflows to current versions
This commits adds additional configuration fields which are needed for multiarm support: (#47)
- Added trajectory_port - Port needed for the trajectory sending interface
- Added non_blocking_read - Takes control of the update rate from ur interface by immediately returning from the read method
- Added keep_alive_count field - Configures the amount of allowed reading timeouts on the robot side Additionally it adds the ${prefix} argument for the gpios and the force torque sensor in the ur.ros2_control.xacro file Co-authored-by: Lennart Nachtigall <<firesurfer@firesurfer.de>>
Set the default tool voltage in the description to 0 (#41) I am not sure whether this will actually affect something, as I don't think we actually set the value initially, but it still makes sense to keep the default tool voltage at 0 to emphasize that by default, this will not be set higher.
Run prerelease tests on current distros (#44)
Contributors: Felix Exner, Felix Exner (fexner), Lennart Nachtigall

2.0.1 (2022-11-08)

Add tool voltage and zero ft sensor to command interface (#38) Added reverse ip and script command interface port as parameters
use xacro.load_yaml in favor of deprecated version (#43) Co-authored-by: aditya <<aditya@nimble.ai>>
Use mock_components instead of fake_components (#37) This has been renamed in ros2_control hardware_interface.
Prepare for branching out galactic (#39)
- Add Humble to README and workflows
- Use galactic branch for galactic stuff
Contributors: Abishalini Sivaraman, Aditya Agarwal, Felix Exner, Mads Holm Peters

2.0.0 (2022-03-17)

Migrated the description to ROS2
Added support for Gazebo and Ignition
Added ROS2_control definitions
Contributors: AndyZe, Denis Stogl, Denis Štogl, Felix Exner, John Morris, Jorge Nicho, Lovro, Lukas Sackewitz, Marvin Große Besselmann, Robert Wilbrandt, Tirine, Vatan Aksoy Tezer, livanov93, urmahp

1.2.7 (2019-11-23)

1.2.6 (2019-11-19)

Add optional safety_controller tags to all joints in xacro macros (#437)
Migrated all package.xml files to format=2 (#439)
Corrected dimensions and positions of inertias (#426)
Add description view launch files for all descriptions to easily check them (#435)
Contributors: Felix Mauch, JeremyZoss, Miguel Prada, Qiang Qiu, gavanderhoorn

1.2.5 (2019-04-05)

Add transmission_hw_interface to UR xacro and expose everywhere (#392)
Update maintainer listing: add Miguel (#410)
Updated xacro namespace.
Update maintainer and author information.
Updated mesh ambience so the model isn't so dark in Gazebo
Fix overlapping variable names between robot definition files (#356)
Improve meshes shading (#233)
Added run_depend for xacro
Using the 'doc' attribute on 'arg' elements.
Enable self collision in gazebo
Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm

1.2.1 (2018-01-06)

Merge pull request #329 from tecnalia-medical-robotics/joint_limits Homogenize xacro macro arguments.
Merge pull request #332 from davetcoleman/kinetic_hw_iface_warning Remove UR3 ROS Control Hardware Interface warning
Remove UR3 ROS Control Hardware Interface warning
Extend changes to '_robot.urdf.xacro' variants as well.
Homogenize xacro macro arguments. Joint limits for the limited version could be set using arguments for the UR10 but not for the UR3 and UR5. Same lower and upper limit arguments are added to the UR3 and UR5 xacro macros.
Fix elbow joint limits (#268)
Remove warning 'redefining global property: pi' (Jade+) (#315)
Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

reintroduce 'pi', unbrake dependent xacros.
use '--inorder' to trigger use of jade+ xacro on Indigo.
Contributors: gavanderhoorn

1.1.8 (2016-12-30)

all: update maintainers.
Contributors: gavanderhoorn

1.1.7 (2016-12-29)

Fix xacro warnings in Jade (#251)
added default values to xacro macro
tested joint limits modification
Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04

1.1.6 (2016-04-01)

unify mesh names
add color to avoid default color 'red' for collision meshes
use correct DH parameter + colored meshes
introducing urdf for ur3 - first draft
unify common xacro files
remove obsolete urdf files
description: add '_joint' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that 'base' is essentially 'base_link' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. 'tool0' is similar to 'ee_link', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
description: minor whitespace cleanup of UR5 & 10 xacros.
regenerate urdf files
use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
Contributors: gavanderhoorn, ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

changes due to file renaming
generate urdfs from latest xacros
file renaming
adapt launch files in order to be able to use normal/limited xacro
fixed typo in limits
add joint_limited urdf.xacros for both robots
(re-)add ee_link for both robots
updates for latest gazebo under hydro
remove ee_link - as in ur10
use same xacro params as ur10
use new transmission interfaces
update xml namespaces for hydro
remove obsolete urdf file
remove obsolete urdf file
Contributors: ipa-fxm
Update ur10.urdf.xacro Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
added corrected mesh file
Added definitions for adding tergets in install folder. Issue #10.
Corrected warning on xacro-files in hydro.
Added definitions for adding tergets in install folder. Issue #10.
Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
fixed name of ur5 transmissions
patched gazebo.urdf.xacro to be compatible with gazebo 1.5
fixed copy&paste error (?)
prefix versions of gazebo and transmission macros
Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
Updated urdf files use collision/visual models.
Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
minor changes on ur5 xacro files
Removed extra stl files and fixed indentions
Renamed packages and new groovy version
Added ur10 and renamed packages
Contributors: Denis Štogl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	joint_state_publisher_gui
	launch
	launch_ros
	robot_state_publisher
	rviz2
	urdf
	xacro
	ament_cmake_pytest
	launch_testing_ament_cmake
	launch_testing_ros

System Dependencies

Name
liburdfdom-tools

Dependant Packages

Name	Deps
ur_moveit_config
ur_robot_driver
ur_simulation_gz

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code Wiki

ur_description package from universal_robots repo

universal_robots ur10_moveit_config ur10e_moveit_config ur16e_moveit_config ur20_moveit_config ur30_moveit_config ur3_moveit_config ur3e_moveit_config ur5_moveit_config ur5e_moveit_config ur_description ur_gazebo ur_kinematics

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.3.3
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-industrial/universal_robot.git
VCS Type	git
VCS Version	noetic-devel
Last Updated	2024-09-09
Dev Status	DEVELOPED
CI status	Latest build history: Tue, 19 Dec 2023 00:03:11 GMT (last 4 of 4 builds) #4 18-Dec-2023 23:56 24 / 24 #3 27-Jan-2023 13:56 21 / 21 #2 05-Jan-2023 07:56 21 / 21 #1 17-Nov-2022 11:56 21 / 21
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

URDF description for Universal UR3(e), UR5(e), UR10(e), UR16e, UR20 and UR30 robots

Additional Links

Website

Maintainers

G.A. vd. Hoorn
Miguel Prada Sarasola
Nadia Hammoudeh Garcia

Authors

Wim Meeussen
Kelsey Hawkins
Mathias Ludtke
Felix Messmer

README

No README found. See repository README.

CHANGELOG

Changelog for package ur_description

1.3.3 (2024-04-08)

Fix default calibration file for UR30 (#677)
UR30 description and meshes (#674)
Contributors: Felix Exner, Vincenzo Di Pentima

1.3.2 (2023-12-18)

UR20 description and meshes (#657)
Contributors: Rune Søe-Knudsen

1.3.1 (2022-11-11)

1.3.0 (2022-11-10)

Merge melodic-devel-staging #617 from ros-industrial/melodic-devel-staging
ur_description: Make robot name configurable on load_ur.launch (#612) In 9d02ccadc8fb9b5cfeaf0d5b0c0c7708d2461447 robot launchfiles were forwarded to their specialized launchfiles instead of setting the robot model in the load_ur.launch file.
Fixed ur5 base height (#607) The visual and collision mesh of the base of the ur5 has to be moved 3 mm upwards in order to close the gap between the shoulder and align its bottom in the xy-plane. Otherwise the ur5 collides with the surface it is directly placed on.
Merge pull request #602 from fmauch/fix_deprecation_warning fixing deprecation warning
fixing deprecation warning
ur_description: Use the per-model xacro files for correct robot name (#588) With the common xacro file the robot name will always be "ur". However, the moveit config packages expect the robot name to be e.g. "ur10e". This commit will use the macros containing the model name already.
Increase minimum CMake version to allow builds on Focal Fossa (Noetic) (#586)
Merge pull request #562 from fmauch/convenience_macros Add convenience macros for description files
Replace __ prefixes (#579) With newer versions of xacro this leads to errors otherwise.
description: provide convenience top-levels and macros. These avoid users having to provide values for all arguments of the 'ur_robot' macro. In many cases, users will want to keep the default files for the joint limits, physical and visual parameters, and only override the default kinematics (to use extracted calibration fi). With the provided wrapper macros, this is possible, as variant-specific defaults are provided for all arguments, requiring only to override the required ones. Users looking to include a UR into a larger scene or composite xacro macro should 'xacro:include' these '_macro.xacro' files. The top-levels are only useful when loading a stand-alone UR in an otherwise empty scene. They do not allow access to any arguments and only use the defaults.
description: main macro xacro is not a top-level. So move to include directory.
Merge pull request #533 from gavanderhoorn/yaml_ctors_rosparam_joint_limits description: spec limits in degrees.
description: spec limits in degrees. Use rosparam's and xacro's support for these special constructors to convert to radians on-the-fly.
Merge pull request #520 from gavanderhoorn/fix_yaml_loading Load yaml files in read_model_data(..), nowhere else
description: delegate loading yaml files to read_model_data(..). This avoids having to 'remember' to load_yaml(..) the contents of those files in every user of the 'ur_robot' macro, and seems to conform to the idea behind the '*_parameters_file' naming of the parameters (they're paths to files, not yaml strings).
Merge pull request #516 from gavanderhoorn/convert_limits_files Use 'ros_control style' joint limit files
description: load values from new params. 'ros_control format' uses different names, so use them.
description: they're joint limits. Not joints limits.
description: load new joint limit files.
description: convert joint limit files to 'ros_control format'. This allows re-using them with MoveIt and ros_control hw interfaces.
description: rename limit files. Bring in-line with other joint limit files.
description: add missing safety_ctrlr for shoulder pan. (#514)
description: correct joint limits for all supported variants. (#513) Based on values from the User Manuals.
description: fix main macro docs. (#512)
Merge pull request #505 from gavanderhoorn/fix_base_link_orientation Remove incorrect base_link rotation.
description: correct orientation of Base mesh. Connector should be aligned with Y+ of 'base' frame.
description: fix orientation of 'base' frame. So it's coincident with the robot's/controller's 'Base' frame. It's actually 180 degrees rotated over Z wrt 'base_link'.
description: rotate for UR internal frames.
description: introduce base_link_inertia link. To work around the root-link-with-inertia limitation in KDL.
description: remove the 'base_correction' property. There is an offset between 'base_link' and 'base', but it's a fixed one, known and does not need to be a property. Rectify the problem with the 'base_link' mesh in a follow-up commit.
description: assume -0==0. (#511)
description: use mat def from yaml for base_link. (#509)
description: reduce verbosity: pass all args. (#508) These convenience wrappers only setup defaults, and all args are needed, so pass all of them.
Merge pull request #506 from gavanderhoorn/add_flange_frame Add flange frame
description: use standard comments for base and tool0 frames. Aligned with other ROS-Industrial robot support packages.
description: fix orientation of tool0. Now that flange is its parent.
description: introduce flange frame. This is the correct EEF attachment point: REP-103 aligned and no unwanted rotations (as tool0).
description: remove ee_link link. Also remove the tiny collision object, as it's no longer needed now that MoveIt has been fixed.
description: clarify status of 'inc' xacro files. (#507) As the way we model the robots may change in the future, users should consider these files as private. No guarantees are given as to the existence of these files or their contents.
Merge pull request #497 from gavanderhoorn/desc_updates Misc updates to ur_description
description: clarify note on base_correction property.
description: typo.
description: explain function of common load_ur launch file.
description: recognise Mathias Lüdtke as contributor.
Update ur_description/urdf/ur_macro.xacro Co-authored-by: Felix Exner <<felix_mauch@web.de>>
description: format top-level xacro.
description: build script cleanup.
description: minor manifest cleanup.
description: add roslaunch check tests.
description: use new load launch files everywhere.
description: rename load launch files. Align them with other ROS-Industrial support packages.
description: explain why we limit elbow joints to +- 1 pi.
description: ur16e: limit elbow to +- 1 pi. Align with other models. For https://github.com/ros-industrial/universal_robot/issues/265.
description: ur16e: state_publisher is deprecated. Use new name.
description: use JSP GUI everywhere. avoid deprecation warnings.
description: remove whitespace.
description: use new xacro macro filenames.
description: dots to underscores.
description: fix xacro filenames. Align them with other ROS-I support packages.
description: formatting and layout of xacro macro.
description: align link and joint order with other ROS-I pkgs. Links first, then joints.
Merge pull request #477 from fmauch/ur16e Add Ur16e support
Updated ur16 files for calibrated URDF
Updated kinetmatic and physical parameters according to the current PR
Added missing meshes for ur16e
Preliminary model version of UR16 added This model is only correct in the kinematics structure. Meshes and dynamics parameters have to be corrected.
Use full kinematics parameters in description (#495) the kinematics parameters can be retrieved from a calibration mechanism to precisely represent the robot's kinematics.
Merge pull request #371 from ipa-led/ur_description_args Urdf with args and yaml configuration
used robot_state_publisher instead of state_publisher
removed --inorder for common launch
- default in melodic
update ur_description launch files
- use of yaml files parameters
- added e_series
- create a common launch file to avoir duplicated
made common macro for ur_robot urdf
- removed each model specific xacro
- use of yaml files
- pass yaml files as parameters
- common ur_robo macro
- remved ur_gazebo specific parts
create parameters yaml files
- one for each models
deleted ur_e specific repositories
- moved ur_e_description meshes files to ur_description
Merge pull request #437 from ipa-nhg/safetylimits Add optional safety_controller tags to all joints in xacro macros
migrated all package.xml files to format=2 (#439)
Merge pull request #426 from fmauch/inertia corrected dimensions and positions of inertias
Add optional safety_controller tags to all joints in xacro macros
Merge pull request #435 from fmauch/add_description_view_files Add description view files
Add dependencies for view_x.launch files to the description packages As we use the joint_state_publisher, the robot_state_publisher and rviz inside the launch files, I added them as run-dependencies.
Added view_x.launch files for all descriptions to easily check them. This resolves #432 To avoid introducing another dependency, I copied the rviz configuration from industrial_robot_client.
corrected dimensions and positions of inertias I'm by far not an expert in working with gazebo or inertias, but it seemed wrong to me:
- The upper arm inertia of the ur10 is not centered in the visual arm segment
- CoM in the wrist links don't sit inside the correct links. E.g. wrist1 has its CoM inside the end of the forearm for all robots.
- Because of the second point the inertia's geometry of wrist3 is matching wrist2 instead of the actual moving part of wrist3.
- Wrist dimensions of ur5 were completely off.
- On the ur5e the arm inertias weren't centered in the visuals.
Merge branch 'kinetic-devel' into patch-1
Contributors: BobbyCephy, Felix Exner, Felix Exner (fexner), Felix Mauch, G.A. vd. Hoorn, JeremyZoss, Ludovic Delval, Miguel Prada, Nadia Hammoudeh García, Qiang Qiu, RobertWilbrandt, gavanderhoorn, georgiablanco

1.2.5 (2019-04-05)

Add transmission_hw_interface to UR xacro and expose everywhere (#392)
Update maintainer listing: add Miguel (#410)
Updated xacro namespace.
Update maintainer and author information.
Updated mesh ambience so the model isn't so dark in Gazebo
Fix overlapping variable names between robot definition files (#356)
Improve meshes shading (#233)
Added run_depend for xacro
Using the 'doc' attribute on 'arg' elements.
Enable self collision in gazebo
Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm

1.2.1 (2018-01-06)

Merge pull request #329 from tecnalia-medical-robotics/joint_limits Homogenize xacro macro arguments.
Merge pull request #332 from davetcoleman/kinetic_hw_iface_warning Remove UR3 ROS Control Hardware Interface warning
Remove UR3 ROS Control Hardware Interface warning
Extend changes to '_robot.urdf.xacro' variants as well.
Homogenize xacro macro arguments. Joint limits for the limited version could be set using arguments for the UR10 but not for the UR3 and UR5. Same lower and upper limit arguments are added to the UR3 and UR5 xacro macros.
Fix elbow joint limits (#268)
Remove warning 'redefining global property: pi' (Jade+) (#315)
Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

reintroduce 'pi', unbrake dependent xacros.
use '--inorder' to trigger use of jade+ xacro on Indigo.
Contributors: gavanderhoorn

1.1.8 (2016-12-30)

all: update maintainers.
Contributors: gavanderhoorn

1.1.7 (2016-12-29)

Fix xacro warnings in Jade (#251)
added default values to xacro macro
tested joint limits modification
Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04

1.1.6 (2016-04-01)

unify mesh names
add color to avoid default color 'red' for collision meshes
use correct DH parameter + colored meshes
introducing urdf for ur3 - first draft
unify common xacro files
remove obsolete urdf files
description: add '_joint' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that 'base' is essentially 'base_link' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. 'tool0' is similar to 'ee_link', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
description: minor whitespace cleanup of UR5 & 10 xacros.
regenerate urdf files
use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
Contributors: gavanderhoorn, ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

changes due to file renaming
generate urdfs from latest xacros
file renaming
adapt launch files in order to be able to use normal/limited xacro
fixed typo in limits
add joint_limited urdf.xacros for both robots
(re-)add ee_link for both robots
updates for latest gazebo under hydro
remove ee_link - as in ur10
use same xacro params as ur10
use new transmission interfaces
update xml namespaces for hydro
remove obsolete urdf file
remove obsolete urdf file
Contributors: ipa-fxm
Update ur10.urdf.xacro Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
added corrected mesh file
Added definitions for adding tergets in install folder. Issue #10.
Corrected warning on xacro-files in hydro.
Added definitions for adding tergets in install folder. Issue #10.
Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
fixed name of ur5 transmissions
patched gazebo.urdf.xacro to be compatible with gazebo 1.5
fixed copy&paste error (?)
prefix versions of gazebo and transmission macros
Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
Updated urdf files use collision/visual models.
Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
minor changes on ur5 xacro files
Removed extra stl files and fixed indentions
Renamed packages and new groovy version
Added ur10 and renamed packages
Contributors: Denis Štogl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	joint_state_publisher_gui
	robot_state_publisher
	rviz
	urdf
	xacro
	roslaunch

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
universal_robots
ur10_moveit_config
ur10e_moveit_config
ur16e_moveit_config
ur20_moveit_config
ur30_moveit_config
ur3_moveit_config
ur3e_moveit_config
ur5_moveit_config
ur5e_moveit_config
ur_gazebo
ur_robot_driver

Launch files

launch/view_ur10e.launch
launch/view_ur3.launch
launch/load_ur.launch
- - joint_limit_params — YAML file containing the joint limit values
  - kinematics_params — YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration.
  - physical_params — YAML file containing the phycical parameters of the robots
  - visual_params — YAML file containing the visual model of the robots
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
  - robot_model
launch/view_ur10.launch
launch/view_ur5.launch
launch/view_ur20.launch
launch/view_ur3e.launch
launch/load_ur30.launch
- - joint_limit_params [default: $(find ur_description)/config/ur30/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur30/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur30/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur30/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur5e.launch
- - joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/view_ur30.launch
launch/load_ur16e.launch
- - joint_limit_params [default: $(find ur_description)/config/ur16e/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur16e/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur16e/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur16e/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur10e.launch
- - joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur10.launch
- - joint_limit_params [default: $(find ur_description)/config/ur10/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur10/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur10/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur10/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur3.launch
- - joint_limit_params [default: $(find ur_description)/config/ur3/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur3/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur3/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur3/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/view_ur5e.launch
launch/load_ur5.launch
- - joint_limit_params [default: $(find ur_description)/config/ur5/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur5/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur5/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur5/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/view_ur16e.launch
launch/load_ur20.launch
- - joint_limit_params [default: $(find ur_description)/config/ur20/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur20/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur20/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur20/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur3e.launch
- - joint_limit_params [default: $(find ur_description)/config/ur3e/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur3e/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur3e/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur3e/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
tests/roslaunch_test_ur3.xml
tests/roslaunch_test_ur5.xml
tests/roslaunch_test_ur5e.xml
tests/roslaunch_test_ur10e.xml
tests/roslaunch_test_ur3e.xml
tests/roslaunch_test_ur10.xml
tests/roslaunch_test_ur20.xml
tests/roslaunch_test_ur30.xml
tests/roslaunch_test_ur16e.xml

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ur_description package from ur_description repo

ur_description

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Package Summary

Tags	No category tags.
Version	2.2.1
License	BSD-3-Clause
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
VCS Type	git
VCS Version	ros2
Last Updated	2023-09-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

URDF description for Universal Robots

Additional Links

Maintainers

Felix Exner
Tristan Schnell
Lovro Ivanov
Denis Stogl

Authors

Nadia Hammoudeh Garcia
Kelsey Hawkins
G.A. vd. Hoorn
Lovro Ivanov
Mathias Ludtke
Wim Meeussen
Felix Messmer
Miguel Prada Sarasola
Denis Stogl
Andy Zelenak
Marvin Grosse Besselmann

README.md

Universal_Robots_ROS2_Description

This repository contains description files and meshes for Universal Robots manipulators.

Build status

ROS2 Distro	Branch	Released packages
Humble	`humble`	ur_description
Iron	`iron`	ur_description
Rolling	`rolling`	ur_description

Note that for ROS2 Foxy the description is in the driver’s repository. Please do not clone this repository into a Foxy workspace.

License

The majority of this repository is licensed under the BSD-3-Clause license. However, the UR20 meshes are licensed under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation. See the separate LICENSE.txt file for details. If you have any questions regarding the license or the license doesn’t fit you use-case, please contact legal@universal-robots.com.

Structure of the repository

The most relevant files are:

urdf/ur_macro.xacro - macro file with UR-manipulator description. This file is usually included into external projects to visualize and configure UR manipulators properly. An example how to use this macro is in urdf/ur.urdf.xacro file.
urdf/ur.ros2_control.xacro - definition of manipulator’s joints and interfaces for ros2_control framework.

Testing description of a manipulator

To visualize the robot install this repository to you workspace and execute the following:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

To test other descriptions change the ur_type argument.

Package / Description structure

This package uses one description for all robots. The different robot variants are configured using four configuration files. These files can also be changed for further customizing a description.

urdf structure

Basically, the description can be modified using configuration values stored in four files:

config/urXX/default_kinematics.yaml - This contains the calibration values as they can be extracted from the robot. Changing these values with the one extracted from a real robot will result in a description matching the real robot exactly (w.r.t the tool0 frame). It is highly recommended to use matching kinematic values in real-world applications.
config/urXX/joint_limits.yaml - If you’d like to further restrict the robot’s joint limits, these limits can be modified there.
config/urXX/physical_parameters.yaml - Everything regarding physics simulation parameters (e.g. inertia poses and values) can be tuned here
config/urXX/visual_parameters.yaml - Some users change certain visual aspects, e.g. replacing the cap on the wrist_3_link. This config file specifies which meshes (both, visual and collision) should be used.

Arguments that have to be passed to the main ur.urdf.xacro file are:

kinematics_params - Filename to the default_kinematics.yaml (or equivalent specific kinematics) file
joint_limit_params - Filename to the joint_limits.yaml file
physical_params - Filename to the physical_parameters.yaml file
visual_params - Filename to the visual_params.yaml file

The launchfile launch/view_ur.launch.py abstracts these four parameters to one ur_type argument which will basically replace the urXX part of the paths as shown in the picture above.

Creating your own description including this description

CHANGELOG

Changelog for package ur_description

2.2.1 (2023-09-08)

Update the joint limits for UR20 (#98)
UR20 description and meshes (#94) The UR20 meshes are added under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation
Contributors: Rune Søe-Knudsen, Felix Exner

2.2.0 (2023-08-28)

Auto-update pre-commit hooks
Do not require upstream ws in ici
Auto-update pre-commit hooks (#88)
Bump ros-tooling/setup-ros from 0.2 to 0.7 (#83)
Bump pat-s/always-upload-cache from 2.1.5 to 3.0.11 (#84)
Bump actions/checkout from 1 to 3 (#85)
Update README regarding distribution branches (#80)
Add mergify, dependabot and pre-commit update
Switch fake to mock for ros2_control updates (#77)
Add iron workflow (#64)
Contributors: Felix Exner, Sebastian Castro, dependabot[bot], github-actions[bot]

2.1.0 (2023-06-01)

added missing handback interface - ros2control mock interface won't work otherwise (#68) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
remove ticks from tf_prefix (#60) Co-authored-by: Lennart Nachtigall <<lennart.nachtigall@sci-mo.de>>
Replace duplicated prefix parameter with tf_prefix
Whitespace fixes
Update pre-commit workflows to current versions
This commits adds additional configuration fields which are needed for multiarm support: (#47)
- Added trajectory_port - Port needed for the trajectory sending interface
- Added non_blocking_read - Takes control of the update rate from ur interface by immediately returning from the read method
- Added keep_alive_count field - Configures the amount of allowed reading timeouts on the robot side Additionally it adds the ${prefix} argument for the gpios and the force torque sensor in the ur.ros2_control.xacro file Co-authored-by: Lennart Nachtigall <<firesurfer@firesurfer.de>>
Set the default tool voltage in the description to 0 (#41) I am not sure whether this will actually affect something, as I don't think we actually set the value initially, but it still makes sense to keep the default tool voltage at 0 to emphasize that by default, this will not be set higher.
Run prerelease tests on current distros (#44)
Contributors: Felix Exner, Felix Exner (fexner), Lennart Nachtigall

2.0.1 (2022-11-08)

Add tool voltage and zero ft sensor to command interface (#38) Added reverse ip and script command interface port as parameters
use xacro.load_yaml in favor of deprecated version (#43) Co-authored-by: aditya <<aditya@nimble.ai>>
Use mock_components instead of fake_components (#37) This has been renamed in ros2_control hardware_interface.
Prepare for branching out galactic (#39)
- Add Humble to README and workflows
- Use galactic branch for galactic stuff
Contributors: Abishalini Sivaraman, Aditya Agarwal, Felix Exner, Mads Holm Peters

2.0.0 (2022-03-17)

Migrated the description to ROS2
Added support for Gazebo and Ignition
Added ROS2_control definitions
Contributors: AndyZe, Denis Stogl, Denis Štogl, Felix Exner, John Morris, Jorge Nicho, Lovro, Lukas Sackewitz, Marvin Große Besselmann, Robert Wilbrandt, Tirine, Vatan Aksoy Tezer, livanov93, urmahp

1.2.7 (2019-11-23)

1.2.6 (2019-11-19)

Add optional safety_controller tags to all joints in xacro macros (#437)
Migrated all package.xml files to format=2 (#439)
Corrected dimensions and positions of inertias (#426)
Add description view launch files for all descriptions to easily check them (#435)
Contributors: Felix Mauch, JeremyZoss, Miguel Prada, Qiang Qiu, gavanderhoorn

1.2.5 (2019-04-05)

Add transmission_hw_interface to UR xacro and expose everywhere (#392)
Update maintainer listing: add Miguel (#410)
Updated xacro namespace.
Update maintainer and author information.
Updated mesh ambience so the model isn't so dark in Gazebo
Fix overlapping variable names between robot definition files (#356)
Improve meshes shading (#233)
Added run_depend for xacro
Using the 'doc' attribute on 'arg' elements.
Enable self collision in gazebo
Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm

1.2.1 (2018-01-06)

Merge pull request #329 from tecnalia-medical-robotics/joint_limits Homogenize xacro macro arguments.
Merge pull request #332 from davetcoleman/kinetic_hw_iface_warning Remove UR3 ROS Control Hardware Interface warning
Remove UR3 ROS Control Hardware Interface warning
Extend changes to '_robot.urdf.xacro' variants as well.
Homogenize xacro macro arguments. Joint limits for the limited version could be set using arguments for the UR10 but not for the UR3 and UR5. Same lower and upper limit arguments are added to the UR3 and UR5 xacro macros.
Fix elbow joint limits (#268)
Remove warning 'redefining global property: pi' (Jade+) (#315)
Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

reintroduce 'pi', unbrake dependent xacros.
use '--inorder' to trigger use of jade+ xacro on Indigo.
Contributors: gavanderhoorn

1.1.8 (2016-12-30)

all: update maintainers.
Contributors: gavanderhoorn

1.1.7 (2016-12-29)

Fix xacro warnings in Jade (#251)
added default values to xacro macro
tested joint limits modification
Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04

1.1.6 (2016-04-01)

unify mesh names
add color to avoid default color 'red' for collision meshes
use correct DH parameter + colored meshes
introducing urdf for ur3 - first draft
unify common xacro files
remove obsolete urdf files
description: add '_joint' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that 'base' is essentially 'base_link' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. 'tool0' is similar to 'ee_link', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
description: minor whitespace cleanup of UR5 & 10 xacros.
regenerate urdf files
use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
Contributors: gavanderhoorn, ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

changes due to file renaming
generate urdfs from latest xacros
file renaming
adapt launch files in order to be able to use normal/limited xacro
fixed typo in limits
add joint_limited urdf.xacros for both robots
(re-)add ee_link for both robots
updates for latest gazebo under hydro
remove ee_link - as in ur10
use same xacro params as ur10
use new transmission interfaces
update xml namespaces for hydro
remove obsolete urdf file
remove obsolete urdf file
Contributors: ipa-fxm
Update ur10.urdf.xacro Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
added corrected mesh file
Added definitions for adding tergets in install folder. Issue #10.
Corrected warning on xacro-files in hydro.
Added definitions for adding tergets in install folder. Issue #10.
Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
fixed name of ur5 transmissions
patched gazebo.urdf.xacro to be compatible with gazebo 1.5
fixed copy&paste error (?)
prefix versions of gazebo and transmission macros
Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
Updated urdf files use collision/visual models.
Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
minor changes on ur5 xacro files
Removed extra stl files and fixed indentions
Renamed packages and new groovy version
Added ur10 and renamed packages
Contributors: Denis Štogl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	joint_state_publisher_gui
	launch
	launch_ros
	robot_state_publisher
	rviz2
	urdf
	xacro
	ament_cmake_pytest
	launch_testing_ament_cmake
	launch_testing_ros

System Dependencies

Name
liburdfdom-tools

Dependant Packages

Name	Deps
ur_bringup
ur_moveit_config
ur_robot_driver

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ur_description` at Robotics Stack Exchange

API Docs Browse Code Wiki

ur_description package from universal_robots repo

universal_robots ur10_moveit_config ur10e_moveit_config ur16e_moveit_config ur3_moveit_config ur3e_moveit_config ur5_moveit_config ur5e_moveit_config ur_description ur_gazebo ur_kinematics

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.3.1
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-industrial/universal_robot.git
VCS Type	git
VCS Version	melodic-devel
Last Updated	2024-03-20
Dev Status	DEVELOPED
CI status	Latest build history: Fri, 27 Jan 2023 13:42:48 GMT (last 3 of 3 builds) #3 27-Jan-2023 13:32 21 / 21 #2 05-Jan-2023 08:32 21 / 21 #1 14-Nov-2022 19:32 21 / 21
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

URDF description for Universal UR3(e), UR5(e), UR10(e) and UR16e robots

Additional Links

Website

Maintainers

G.A. vd. Hoorn
Miguel Prada Sarasola
Nadia Hammoudeh Garcia

Authors

Wim Meeussen
Kelsey Hawkins
Mathias Ludtke
Felix Messmer

README

No README found. See repository README.

CHANGELOG

Changelog for package ur_description

1.3.1 (2022-11-11)

1.3.0 (2022-11-10)

Merge melodic-devel-staging #617 from ros-industrial/melodic-devel-staging
ur_description: Make robot name configurable on load_ur.launch (#612) In 9d02ccadc8fb9b5cfeaf0d5b0c0c7708d2461447 robot launchfiles were forwarded to their specialized launchfiles instead of setting the robot model in the load_ur.launch file.
Fixed ur5 base height (#607) The visual and collision mesh of the base of the ur5 has to be moved 3 mm upwards in order to close the gap between the shoulder and align its bottom in the xy-plane. Otherwise the ur5 collides with the surface it is directly placed on.
Merge pull request #602 from fmauch/fix_deprecation_warning fixing deprecation warning
fixing deprecation warning
ur_description: Use the per-model xacro files for correct robot name (#588) With the common xacro file the robot name will always be "ur". However, the moveit config packages expect the robot name to be e.g. "ur10e". This commit will use the macros containing the model name already.
Increase minimum CMake version to allow builds on Focal Fossa (Noetic) (#586)
Merge pull request #562 from fmauch/convenience_macros Add convenience macros for description files
Replace __ prefixes (#579) With newer versions of xacro this leads to errors otherwise.
description: provide convenience top-levels and macros. These avoid users having to provide values for all arguments of the 'ur_robot' macro. In many cases, users will want to keep the default files for the joint limits, physical and visual parameters, and only override the default kinematics (to use extracted calibration fi). With the provided wrapper macros, this is possible, as variant-specific defaults are provided for all arguments, requiring only to override the required ones. Users looking to include a UR into a larger scene or composite xacro macro should 'xacro:include' these '_macro.xacro' files. The top-levels are only useful when loading a stand-alone UR in an otherwise empty scene. They do not allow access to any arguments and only use the defaults.
description: main macro xacro is not a top-level. So move to include directory.
Merge pull request #533 from gavanderhoorn/yaml_ctors_rosparam_joint_limits description: spec limits in degrees.
description: spec limits in degrees. Use rosparam's and xacro's support for these special constructors to convert to radians on-the-fly.
Merge pull request #520 from gavanderhoorn/fix_yaml_loading Load yaml files in read_model_data(..), nowhere else
description: delegate loading yaml files to read_model_data(..). This avoids having to 'remember' to load_yaml(..) the contents of those files in every user of the 'ur_robot' macro, and seems to conform to the idea behind the '*_parameters_file' naming of the parameters (they're paths to files, not yaml strings).
Merge pull request #516 from gavanderhoorn/convert_limits_files Use 'ros_control style' joint limit files
description: load values from new params. 'ros_control format' uses different names, so use them.
description: they're joint limits. Not joints limits.
description: load new joint limit files.
description: convert joint limit files to 'ros_control format'. This allows re-using them with MoveIt and ros_control hw interfaces.
description: rename limit files. Bring in-line with other joint limit files.
description: add missing safety_ctrlr for shoulder pan. (#514)
description: correct joint limits for all supported variants. (#513) Based on values from the User Manuals.
description: fix main macro docs. (#512)
Merge pull request #505 from gavanderhoorn/fix_base_link_orientation Remove incorrect base_link rotation.
description: correct orientation of Base mesh. Connector should be aligned with Y+ of 'base' frame.
description: fix orientation of 'base' frame. So it's coincident with the robot's/controller's 'Base' frame. It's actually 180 degrees rotated over Z wrt 'base_link'.
description: rotate for UR internal frames.
description: introduce base_link_inertia link. To work around the root-link-with-inertia limitation in KDL.
description: remove the 'base_correction' property. There is an offset between 'base_link' and 'base', but it's a fixed one, known and does not need to be a property. Rectify the problem with the 'base_link' mesh in a follow-up commit.
description: assume -0==0. (#511)
description: use mat def from yaml for base_link. (#509)
description: reduce verbosity: pass all args. (#508) These convenience wrappers only setup defaults, and all args are needed, so pass all of them.
Merge pull request #506 from gavanderhoorn/add_flange_frame Add flange frame
description: use standard comments for base and tool0 frames. Aligned with other ROS-Industrial robot support packages.
description: fix orientation of tool0. Now that flange is its parent.
description: introduce flange frame. This is the correct EEF attachment point: REP-103 aligned and no unwanted rotations (as tool0).
description: remove ee_link link. Also remove the tiny collision object, as it's no longer needed now that MoveIt has been fixed.
description: clarify status of 'inc' xacro files. (#507) As the way we model the robots may change in the future, users should consider these files as private. No guarantees are given as to the existence of these files or their contents.
Merge pull request #497 from gavanderhoorn/desc_updates Misc updates to ur_description
description: clarify note on base_correction property.
description: typo.
description: explain function of common load_ur launch file.
description: recognise Mathias Lüdtke as contributor.
Update ur_description/urdf/ur_macro.xacro Co-authored-by: Felix Exner <<felix_mauch@web.de>>
description: format top-level xacro.
description: build script cleanup.
description: minor manifest cleanup.
description: add roslaunch check tests.
description: use new load launch files everywhere.
description: rename load launch files. Align them with other ROS-Industrial support packages.
description: explain why we limit elbow joints to +- 1 pi.
description: ur16e: limit elbow to +- 1 pi. Align with other models. For https://github.com/ros-industrial/universal_robot/issues/265.
description: ur16e: state_publisher is deprecated. Use new name.
description: use JSP GUI everywhere. avoid deprecation warnings.
description: remove whitespace.
description: use new xacro macro filenames.
description: dots to underscores.
description: fix xacro filenames. Align them with other ROS-I support packages.
description: formatting and layout of xacro macro.
description: align link and joint order with other ROS-I pkgs. Links first, then joints.
Merge pull request #477 from fmauch/ur16e Add Ur16e support
Updated ur16 files for calibrated URDF
Updated kinetmatic and physical parameters according to the current PR
Added missing meshes for ur16e
Preliminary model version of UR16 added This model is only correct in the kinematics structure. Meshes and dynamics parameters have to be corrected.
Use full kinematics parameters in description (#495) the kinematics parameters can be retrieved from a calibration mechanism to precisely represent the robot's kinematics.
Merge pull request #371 from ipa-led/ur_description_args Urdf with args and yaml configuration
used robot_state_publisher instead of state_publisher
removed --inorder for common launch
- default in melodic
update ur_description launch files
- use of yaml files parameters
- added e_series
- create a common launch file to avoir duplicated
made common macro for ur_robot urdf
- removed each model specific xacro
- use of yaml files
- pass yaml files as parameters
- common ur_robo macro
- remved ur_gazebo specific parts
create parameters yaml files
- one for each models
deleted ur_e specific repositories
- moved ur_e_description meshes files to ur_description
Merge pull request #437 from ipa-nhg/safetylimits Add optional safety_controller tags to all joints in xacro macros
migrated all package.xml files to format=2 (#439)
Merge pull request #426 from fmauch/inertia corrected dimensions and positions of inertias
Add optional safety_controller tags to all joints in xacro macros
Merge pull request #435 from fmauch/add_description_view_files Add description view files
Add dependencies for view_x.launch files to the description packages As we use the joint_state_publisher, the robot_state_publisher and rviz inside the launch files, I added them as run-dependencies.
Added view_x.launch files for all descriptions to easily check them. This resolves #432 To avoid introducing another dependency, I copied the rviz configuration from industrial_robot_client.
corrected dimensions and positions of inertias I'm by far not an expert in working with gazebo or inertias, but it seemed wrong to me:
- The upper arm inertia of the ur10 is not centered in the visual arm segment
- CoM in the wrist links don't sit inside the correct links. E.g. wrist1 has its CoM inside the end of the forearm for all robots.
- Because of the second point the inertia's geometry of wrist3 is matching wrist2 instead of the actual moving part of wrist3.
- Wrist dimensions of ur5 were completely off.
- On the ur5e the arm inertias weren't centered in the visuals.
Merge branch 'kinetic-devel' into patch-1
Contributors: BobbyCephy, Felix Exner, Felix Exner (fexner), Felix Mauch, G.A. vd. Hoorn, JeremyZoss, Ludovic Delval, Miguel Prada, Nadia Hammoudeh García, Qiang Qiu, RobertWilbrandt, gavanderhoorn, georgiablanco

1.2.5 (2019-04-05)

Add transmission_hw_interface to UR xacro and expose everywhere (#392)
Update maintainer listing: add Miguel (#410)
Updated xacro namespace.
Update maintainer and author information.
Updated mesh ambience so the model isn't so dark in Gazebo
Fix overlapping variable names between robot definition files (#356)
Improve meshes shading (#233)
Added run_depend for xacro
Using the 'doc' attribute on 'arg' elements.
Enable self collision in gazebo
Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm

1.2.1 (2018-01-06)

Merge pull request #329 from tecnalia-medical-robotics/joint_limits Homogenize xacro macro arguments.
Merge pull request #332 from davetcoleman/kinetic_hw_iface_warning Remove UR3 ROS Control Hardware Interface warning
Remove UR3 ROS Control Hardware Interface warning
Extend changes to '_robot.urdf.xacro' variants as well.
Homogenize xacro macro arguments. Joint limits for the limited version could be set using arguments for the UR10 but not for the UR3 and UR5. Same lower and upper limit arguments are added to the UR3 and UR5 xacro macros.
Fix elbow joint limits (#268)
Remove warning 'redefining global property: pi' (Jade+) (#315)
Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

reintroduce 'pi', unbrake dependent xacros.
use '--inorder' to trigger use of jade+ xacro on Indigo.
Contributors: gavanderhoorn

1.1.8 (2016-12-30)

all: update maintainers.
Contributors: gavanderhoorn

1.1.7 (2016-12-29)

Fix xacro warnings in Jade (#251)
added default values to xacro macro
tested joint limits modification
Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04

1.1.6 (2016-04-01)

unify mesh names
add color to avoid default color 'red' for collision meshes
use correct DH parameter + colored meshes
introducing urdf for ur3 - first draft
unify common xacro files
remove obsolete urdf files
description: add '_joint' suffix to newly introduced joint tags. This is more in-line with naming of existing joint tags.
description: add ROS-I base and tool0 frames. Fix #49 and #95. Note that 'base' is essentially 'base_link' but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot. 'tool0' is similar to 'ee_link', but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of updating it (see also [1]). [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames
description: minor whitespace cleanup of UR5 & 10 xacros.
regenerate urdf files
use PositionJointInterface as hardwareInterface in transmissions - affects simulation only
Contributors: gavanderhoorn, ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

changes due to file renaming
generate urdfs from latest xacros
file renaming
adapt launch files in order to be able to use normal/limited xacro
fixed typo in limits
add joint_limited urdf.xacros for both robots
(re-)add ee_link for both robots
updates for latest gazebo under hydro
remove ee_link - as in ur10
use same xacro params as ur10
use new transmission interfaces
update xml namespaces for hydro
remove obsolete urdf file
remove obsolete urdf file
Contributors: ipa-fxm
Update ur10.urdf.xacro Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.
Update ur5.urdf.xacro Corrected effort thresholds and friction values for UR5 urdf.
added corrected mesh file
Added definitions for adding tergets in install folder. Issue #10.
Corrected warning on xacro-files in hydro.
Added definitions for adding tergets in install folder. Issue #10.
Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
fixed name of ur5 transmissions
patched gazebo.urdf.xacro to be compatible with gazebo 1.5
fixed copy&paste error (?)
prefix versions of gazebo and transmission macros
Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution
Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics
Updated urdf files use collision/visual models.
Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).
minor changes on ur5 xacro files
Removed extra stl files and fixed indentions
Renamed packages and new groovy version
Added ur10 and renamed packages
Contributors: Denis Štogl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	joint_state_publisher_gui
	robot_state_publisher
	rviz
	urdf
	xacro
	roslaunch

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
universal_robots
ur10_moveit_config
ur10e_moveit_config
ur16e_moveit_config
ur3_moveit_config
ur3e_moveit_config
ur5_moveit_config
ur5e_moveit_config
ur_gazebo
ur_robot_driver

Launch files

launch/view_ur10e.launch
launch/view_ur3.launch
launch/load_ur.launch
- - joint_limit_params — YAML file containing the joint limit values
  - kinematics_params — YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration.
  - physical_params — YAML file containing the phycical parameters of the robots
  - visual_params — YAML file containing the visual model of the robots
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
  - robot_model
launch/view_ur10.launch
launch/view_ur5.launch
launch/view_ur3e.launch
launch/load_ur5e.launch
- - joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur16e.launch
- - joint_limit_params [default: $(find ur_description)/config/ur16e/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur16e/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur16e/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur16e/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur10e.launch
- - joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur10.launch
- - joint_limit_params [default: $(find ur_description)/config/ur10/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur10/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur10/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur10/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/load_ur3.launch
- - joint_limit_params [default: $(find ur_description)/config/ur3/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur3/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur3/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur3/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/view_ur5e.launch
launch/load_ur5.launch
- - joint_limit_params [default: $(find ur_description)/config/ur5/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur5/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur5/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur5/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
launch/view_ur16e.launch
launch/load_ur3e.launch
- - joint_limit_params [default: $(find ur_description)/config/ur3e/joint_limits.yaml]
  - kinematics_params [default: $(find ur_description)/config/ur3e/default_kinematics.yaml]
  - physical_params [default: $(find ur_description)/config/ur3e/physical_parameters.yaml]
  - visual_params [default: $(find ur_description)/config/ur3e/visual_parameters.yaml]
  - transmission_hw_interface [default: hardware_interface/PositionJointInterface]
  - safety_limits [default: false] — If True, enable the safety limits controller
  - safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
  - safety_k_position [default: 20] — Used to set k position in the safety controller
tests/roslaunch_test_ur3.xml
tests/roslaunch_test_ur5.xml
tests/roslaunch_test_ur5e.xml
tests/roslaunch_test_ur10e.xml
tests/roslaunch_test_ur3e.xml
tests/roslaunch_test_ur10.xml
tests/roslaunch_test_ur16e.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ur_description` at Robotics Stack Exchange

API Docs Browse Code Wiki

ur_description package from ur_description repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Universal_Robots_ROS2_Description

Build status

License

Structure of the repository

Testing description of a manipulator

Package / Description structure

Creating your own description including this description

Changelog for package ur_description

2.1.8 (2024-10-28)

2.1.7 (2024-09-10)

2.1.6 (2024-08-09)

2.1.5 (2024-04-25)

2.1.4 (2024-04-04)

2.1.3 (2023-12-18)

2.1.2 (2023-11-17)

2.1.1 (2023-09-08)

2.1.0 (2023-06-01)

2.0.1 (2022-11-08)

2.0.0 (2022-03-17)

1.2.7 (2019-11-23)

1.2.6 (2019-11-19)

1.2.5 (2019-04-05)

1.2.1 (2018-01-06)

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

1.1.8 (2016-12-30)

1.1.7 (2016-12-29)

1.1.6 (2016-04-01)

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged ur_description at Robotics Stack Exchange

ur_description package from ur_description repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Universal_Robots_ROS2_Description

Build status

License

Structure of the repository

Testing description of a manipulator

Package / Description structure

Creating your own description including this description

Changelog for package ur_description

2.3.3 (2024-10-28)

2.3.2 (2024-09-10)

2.3.1 (2024-08-09)

2.3.0 (2024-04-25)

2.1.4 (2024-04-04)

2.1.3 (2023-12-18)

2.1.2 (2023-11-17)

2.1.1 (2023-09-08)

2.1.0 (2023-06-01)

2.0.1 (2022-11-08)

2.0.0 (2022-03-17)

1.2.7 (2019-11-23)

1.2.6 (2019-11-19)

1.2.5 (2019-04-05)

1.2.1 (2018-01-06)

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

1.1.8 (2016-12-30)

1.1.7 (2016-12-29)

Recent questions tagged `ur_description` at Robotics Stack Exchange

Recent questions tagged `ur_description` at Robotics Stack Exchange

Recent questions tagged `ur_description` at Robotics Stack Exchange