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ROS作为通用的机器人操作平台，版本已经更迭了很多。从最初的electric, fuerte, groovy, hydro到现在常用的indigo和jade,最新版本已经更新到了kinetic.
目前支持UR的资料大多作用于indigo平台，今天通过整合谷歌开发社区上的一些资料，成功地在Ubuntu 16.04和ROS Kinetic上实现了UR3 Robot的控制和使用。
基础的资料包还是universal_robot-kinetic-devel和ur_modern_driver，然后ur_modern_driver中的一个ur_hardware_interface.cpp文件需要修改，下面就是这个文件的所有源代码，使用的时候只需用这个文件替换原来的即可。
如果你原来在indigo上运行没问题，那么替换代码之后应该在kinetic上运行也没问题。当然喽，记得重新下载universal_robot-kinetic-devel，而不是使用原来的universal_robot-indigo-devel。
ur_hardware_interface.cpp源代码：
/*
* ur_hardware_control_loop.cpp
*
* Copyright 2015 Thomas Timm Andersen
*
* Licensed under the Apache License, Version 2.0 (the “License”);
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an “AS IS” BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/* Based on original source from University of Colorado, Boulder. License copied below. */
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, University of Colorado, Boulder
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Univ of CO, Boulder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************
Author: Dave Coleman
*/
#include <ur_modern_driver/ur_hardware_interface.h>
namespace ros_control_ur {
UrHardwareInterface::UrHardwareInterface(ros::NodeHandle& nh, UrDriver* robot) :
nh_(nh), robot_(robot) {
// Initialize shared memory and interfaces here
init(); // this implementation loads from rosparam
max_vel_change_ = 0.12; // equivalent of an acceleration of 15 rad/sec^2
ROS_INFO_NAMED(“ur_hardware_interface”, “Loaded ur_hardware_interface.”);
}
void UrHardwareInterface::init() {
ROS_INFO_STREAM_NAMED(“ur_hardware_interface”,
“Reading rosparams from namespace: ” << nh_.getNamespace());
// Get joint names
nh_.getParam(“hardware_interface/joints”, joint_names_);
if (joint_names_.size() == 0) {
ROS_FATAL_STREAM_NAMED(“ur_hardware_interface”,
“No joints found on parameter server for controller, did you load the proper yaml file?” << ” Namespace: ” << nh_.getNamespace());
exit(-1);
}
num_joints_ = joint_names_.size();
// Resize vectors
joint_position_.resize(num_joints_);
joint_velocity_.resize(num_joints_);
joint_effort_.resize(num_joints_);
joint_position_command_.resize(num_joints_);
joint_velocity_command_.resize(num_joints_);
prev_joint_velocity_command_.resize(num_joints_);
// Initialize controller
for (std::size_t i = 0; i < num_joints_; ++i) {
ROS_DEBUG_STREAM_NAMED(“ur_hardware_interface”,
“Loading joint name: ” << joint_names_[i]);
// Create joint state interface
joint_state_interface_.registerHandle(
hardware_interface::JointStateHandle(joint_names_[i],
&joint_position_[i], &joint_velocity_[i],
&joint_effort_[i]));
// Create position joint interface
position_joint_interface_.registerHandle(
hardware_interface::JointHandle(
joint_state_interface_.getHandle(joint_names_[i]),
&joint_position_command_[i]));
// Create velocity joint interface
velocity_joint_interface_.registerHandle(
hardware_interface::JointHandle(
joint_state_interface_.getHandle(joint_names_[i]),
&joint_velocity_command_[i]));
prev_joint_velocity_command_[i] = 0.;
}
// Create force torque interface
force_torque_interface_.registerHandle(
hardware_interface::ForceTorqueSensorHandle(“wrench”, “”,
robot_force_, robot_torque_));
registerInterface(&joint_state_interface_); // From RobotHW base class.
registerInterface(&position_joint_interface_); // From RobotHW base class.
registerInterface(&velocity_joint_interface_); // From RobotHW base class.
registerInterface(&force_torque_interface_); // From RobotHW base class.
velocity_interface_running_ = false;
position_interface_running_ = false;
}
void UrHardwareInterface::read() {
std::vector<double> pos, vel, current, tcp;
pos = robot_->rt_interface_->robot_state_->getQActual();
vel = robot_->rt_interface_->robot_state_->getQdActual();
current = robot_->rt_interface_->robot_state_->getIActual();
tcp = robot_->rt_interface_->robot_state_->getTcpForce();
for (std::size_t i = 0; i < num_joints_; ++i) {
joint_position_[i] = pos[i];
joint_velocity_[i] = vel[i];
joint_effort_[i] = current[i];
}
for (std::size_t i = 0; i < 3; ++i) {
robot_force_[i] = tcp[i];
robot_torque_[i] = tcp[i + 3];
}
}
void UrHardwareInterface::setMaxVelChange(double inp) {
max_vel_change_ = inp;
}
void UrHardwareInterface::write() {
if (velocity_interface_running_) {
std::vector<double> cmd;
//do some rate limiting
cmd.resize(joint_velocity_command_.size());
for (unsigned int i = 0; i < joint_velocity_command_.size(); i++) {
cmd[i] = joint_velocity_command_[i];
if (cmd[i] > prev_joint_velocity_command_[i] + max_vel_change_) {
cmd[i] = prev_joint_velocity_command_[i] + max_vel_change_;
} else if (cmd[i]
< prev_joint_velocity_command_[i] – max_vel_change_) {
cmd[i] = prev_joint_velocity_command_[i] – max_vel_change_;
}
prev_joint_velocity_command_[i] = cmd[i];
}
robot_->setSpeed(cmd[0], cmd[1], cmd[2], cmd[3], cmd[4], cmd[5], max_vel_change_*125);
} else if (position_interface_running_) {
robot_->servoj(joint_position_command_);
}
}
bool UrHardwareInterface::canSwitch(
const std::list<hardware_interface::ControllerInfo> &start_list,
const std::list<hardware_interface::ControllerInfo> &stop_list) const {
for (std::list<hardware_interface::ControllerInfo>::const_iterator controller_it =
start_list.begin(); controller_it != start_list.end();
++controller_it) {
if (controller_it->type
== “hardware_interface::VelocityJointInterface”) {
if (velocity_interface_running_) {
ROS_ERROR(
“%s: An interface of that type (%s) is already running”,
controller_it->name.c_str(),
controller_it->type.c_str());
return false;
}
if (position_interface_running_) {
bool error = true;
for (std::list<hardware_interface::ControllerInfo>::const_iterator stop_controller_it =
stop_list.begin();
stop_controller_it != stop_list.end();
++stop_controller_it) {
if (stop_controller_it->type
== “hardware_interface::PositionJointInterface”) {
error = false;
break;
}
}
if (error) {
ROS_ERROR(
“%s (type %s) can not be run simultaneously with a PositionJointInterface”,
controller_it->name.c_str(),
controller_it->type.c_str());
return false;
}
}
} else if (controller_it->type
== “hardware_interface::PositionJointInterface”) {
if (position_interface_running_) {
ROS_ERROR(
“%s: An interface of that type (%s) is already running”,
controller_it->name.c_str(),
controller_it->type.c_str());
return false;
}
if (velocity_interface_running_) {
bool error = true;
for (std::list<hardware_interface::ControllerInfo>::const_iterator stop_controller_it =
stop_list.begin();
stop_controller_it != stop_list.end();
++stop_controller_it) {
if (stop_controller_it->type
== “hardware_interface::VelocityJointInterface”) {
error = false;
break;
}
}
if (error) {
ROS_ERROR(
“%s (type %s) can not be run simultaneously with a VelocityJointInterface”,
controller_it->name.c_str(),
controller_it->type.c_str());
return false;
}
}
}
}
// we can always stop a controller
return true;
}
void UrHardwareInterface::doSwitch(
const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) {
for (std::list<hardware_interface::ControllerInfo>::const_iterator controller_it =
stop_list.begin(); controller_it != stop_list.end();
++controller_it) {
if (controller_it->type
== “hardware_interface::VelocityJointInterface”) {
velocity_interface_running_ = false;
ROS_DEBUG(“Stopping velocity interface”);
}
if (controller_it->type
== “hardware_interface::PositionJointInterface”) {
position_interface_running_ = false;
std::vector<double> tmp;
robot_->closeServo(tmp);
ROS_DEBUG(“Stopping position interface”);
}
}
for (std::list<hardware_interface::ControllerInfo>::const_iterator controller_it =
start_list.begin(); controller_it != start_list.end();
++controller_it) {
if (controller_it->type
== “hardware_interface::VelocityJointInterface”) {
velocity_interface_running_ = true;
ROS_DEBUG(“Starting velocity interface”);
}
if (controller_it->type
== “hardware_interface::PositionJointInterface”) {
position_interface_running_ = true;
robot_->uploadProg();
ROS_DEBUG(“Starting position interface”);
}
}
}
} // namespace
本文永久更新链接地址：http://www.linuxidc.com/Linux/2017-03/141507.htm
