Note: It is SSH into the controller with username root@<ip address of controller> and password easybot
Note: It's not required to have the controller directly connected to the control PC
bazel run //drake-ur-driver:ur_driver -- <3.1 running options>
running options are specified in x=y format. Where x are the keys as detailed before, and y is the corresponding values.
robot_ip_address : robot controller IP Address (default: "192.168.56.101")
lcm_url : LCM URL for UR driver (default: empty string for default LCM)
lcm_command_channel : name of the channel on which to listen to command messages of type lcmt_ur_command (default: "UR_COMMAND")
lcm_status_channel : name of the channel on which to publish status messages of type lcmt_ur_status (default: "UR_STATUS")
control_mode : control mode for the robot. Choose from: status_only, velocity, position (default), tcp_position, tcp_velocity
use_mbp : use Drake MultibodyPlant for dynamics computation and limit checks (default: false). If true, use urdf_path to provide the model. If false, skip limit checks.
urdf_path : path to the URDF model file to use for limit checking (default: "drake-ur-driver/resources/ur10.urdf")
scale_velocity_limits : velocity joint limit factor k where k * joint_velocity_limit / 100.0. Range [1-100]. Use -1 to disable (default: -1)
scale_joint_limits : joint limit factor k where k * joint_limit / 100.0. Range [1-100]. Use -1 to disable (default: -1)
command_stop_limit : maximum number of consecutive missed messages before stopping commands to robot (default: 5)
expire_sec : maximum allowed delay (in seconds) for messages to be considered valid. Must be non-negative and finite (default: 0.1)
Example:
bazel run //drake-ur-driver:ur_driver -- robot_ip_address=192.168.1.100 control_mode=position lcm_command_channel=UR_CMD- https://github.com/RobotLocomotion/drake-franka-driver
- https://github.com/RobotLocomotion/drake-iiwa-driver
- https://github.com/UniversalRobots/Universal_Robots_ROS_Driver
- https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
- https://github.com/UniversalRobots/Universal_Robots_Client_Library
- https://github.com/ros-industrial/universal_robot