Robot State Receiver

ROS parameters

• robot_ip: the robot ip address.
• robot_description_package: ROS2 package containing the URDF of the robot.
• urdf_file_name: relative path of the robot URDF in robot_description_package package.
• moveit_config_pkg: MoveIt! ROS2 config package generated with MoveIt! setup assistant and urdf_file_name. (Optional)
• launch_moveit: if enabled, /launch/move_group.launch.py launch file contained in moveit_config_pkg is launched.
• launch_rviz: if enabled, an instance of RViz will be launched along with the robot state receiver node. If also launch_moveit is enabled, instead of launching an instance of RViz, /launch/moveit_rviz.launch.py contained in moveit_config_pkg is launched.
• simulation_only: if enabled, fake data are made available through topics and services. It can be used to simulate a trajectory in non-realistic environment. Joint state messages to can be published to /fake_joint_states to change the robot state.

Robot state published in topics and accessible with services

• JointState: /joint_states, /ur_ros_rtde/get_joint_state
• Pose: /tcp_pose, /ur_ros_rtde/get_tcp_pose
• WrenchStamped: /wrench, /ur_ros_rtde/get_wrench
• IOState: /io_state, /ur_ros_rtde/get_io_state

Command Server

ROS parameters

• robot_ip: the robot ip address.
• command_server.plugins_blacklist: a list of plugin names to ignore.

Commands list

• send_custom_script_command: send custom UrScript to the robot.

• set_digital_pin_command: set a digital output pin to a specific state.

• set_payload_command: set the payload of the robot.

• set_speed_slider_command: set the speed slider value of the teach pendant.

• set_freedrive_command: activate the freedrive mode of the robot. free_axes is an integer vector to activate or deactivate robot movements on X,Y,Z,Roll,Pitch,Yaw axes (1 is activated, 0 is deactivated).

• reset_force_torque_sensor_command: reset the FT sensor.

• move_l_command: move the robot with linear movements in the tool space.

• move_j_command: move the robot with linear movements in the joint space.

• move_l_relative_command: relative movement, linear in the tool space, of the robot with respect to the actual pose.

• move_j_relative_command: relative movement, linear in the joint space, of the robot with respect to the actual configuration.

• move_until_contact_command: move the TCP along a given direction until a contact is detected and then retract the robot at the last non-colliding configuration. It is possible to define a direction of the contact to detect. If direction is set to all -1 values all possible contacts are detected.

• move_until_force_command: move the TCP given XYZ offset until a force is detected. It is possible to define a direction of the force and a minimum value.

• move_until_torque_command: move the TCP given XYZ offset until a torque is detected. It is possible to define a direction of the torque and a minimum value.

• execute_path_command: execute a path composed of several waypoints. Each waypoint can be a MoveL (l or L) or MoveJ (j or J) movement. When passing multiple waypoint of the same type it is possible to use the blend values (see Blend Radii in this guide). They allows to smooth the transition between two MoveX movements.

• execute_trajectory_command: execute a trajectory composed of at least two robot configurations. The robot will perform a first move_l towards the first robot configuration and then start the execution. Deceleration is used to stop at the end of trajectory. Acceleration and speed parameters are used to estimate a speed profile of the robot and interpolate waypoints.

Dashboard commands

ROS parameters

• robot_ip: the robot ip address.

Commands list

Command descriptions are straightforward given their names.