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https://github.com/ai4ce/ur_ros2

This package is some additions to the official UR ROS2 driver that enables teleoperation and some more visualization. Developed at AI4CE Lab at NYU.
https://github.com/ai4ce/ur_ros2

robotics ros2 teleoperation universal-robots

Last synced: 11 days ago
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This package is some additions to the official UR ROS2 driver that enables teleoperation and some more visualization. Developed at AI4CE Lab at NYU.

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This package is some additions to the [official UR ROS2 driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble) that enables teleoperation (with Moveit Servo) and some more visualization. Developed at [AI4CE Lab](https://ai4ce.github.io/) at NYU.



To use these packages, please first follow the official installation for the original ROS2 driver, and then place this repo in a folder in your ROS2 workspace.



Each folder of this repo is an independent ROS2 package.



# Operating the Robot

### Bringup

`ros2 launch ur_robotiq_description ur_bringup.launch.py ur_type:=ur10e robot_ip:=yyy.yyy.yyy.yyy`



This is the same as the official `ur_robot_driver ur_control.launch.py`, but with some modifications to fit our lab's need.



Some notable parameters:

- `fake_hardware`: whether to only run things on RViz and such. False if you are working with the real robot.

- `launch_rviz`: whether to turn on RViz to see the robot model.

- `tool_choice`: which EEF tools to use, if any.



### MoveIt Manual Planning

`ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py ur_type:=ur10e`



Similar parameters choices as above.



### `ur_planning`

`ros2 launch ur_planning ur_planning_sys.launch.py ur_type:=ur10e`



Again, similar parameters choices.



# Major Modifications/Additions

Here, I will just record some major modifications and additions I made to the official UR repos.



## Teleoperation 

- Successfully implemented joint-space and twist teleoperation for fake hardware in RViz.

    - Added `JoyToServoPub_ur10e.cpp` to `ur_moveit_servo/src`

        - All 6 joints can be controlled. 

        - For twist control, pressing Home on a PS joystick can switch between the base frame and the EEF frame. 

    - I don't understand why most online discussion revolves around `forwrd_position_controller`. By default, even in fake hardware, UR driver uses `scaled_joint_trajectory_controller`, so directly publishing to the latter can make servoing work. Maybe I am missing something here.

    - In `ur_moveit_servo/config`, a servo config is provided to make sure that velocities are published to `/scaled_joint_trajectory_controller/joint_trajectory`

    - To run the teleoperation in RViz (real-world testing incoming), first run 

    ```ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=true```

    Then, in another terminal, run: 

    ```ros2 launch ur_moveit_servo teleop_sys_launch.py```

- Add speed multiplier as a launch parameter to the teleoperation system.



## EFF Integration

### Robotiq 2F-85

#### Program

- The code requires that the gripper be connected to the robot through the wrist M8 connector or the tool I/O in the control box. In other words, it does not control an independent controller but rather runs through the UR robot. 

- Another package may be written to independently control the gripper in the future if there is such a need.

- In the URDF, I turned on `use_fake_hardware` and `fake_sensor_commands`, because we don't actually control it through ROS, but through the MBUS connector. 

    - This may change if we need to write an independent driver. 

    - This is crucial for successfully configuring the gripper for the `robot_state_publisher` and smooth logging in MoveIt. Otherwise MoveIt will complain nonstop about missing the gripper, despite the fact that it can still control the robot fine.

#### Visualization

- Added `ur_robotiq_description` package to integrate the mesh and urdf of the gripper.

- Added `2f_85/collision` and `2f_85/visual` to `ur_robotiq_description/mesh`

- Added `2f_85/robotiq_2f_85_macro.urdf.xacro` to `ur_robotiq_description/urdf`

- Modified `ur_robotiq_description/urdf/ur_macro.xacro`, `ur_robotiq_description/urdf/ur.urdf.xacro` to include the macro for the gripper

- Modified `ur_robotiq_description/launch/view_ur.launch.py)` to properly load the new urdf file and visualize the robot.