Affected ROS2 Driver version(s)
Ros2 humble and Polyscope X
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel
How is the UR ROS2 Driver installed.
From binary packets
Which robot platform is the driver connected to.
Real robot
Robot SW / URSim version(s)
Polyscope X
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
I want to use the io Controller with the ros2 driver to adjust for example the Payload for taking a infrastucture plate. I am looking for that io Status controller but it seems to be totally gone.
I tried ros2 service call /io_and_status_controller/set_payload ur_msgs/srv/SetPayload "{center_of_gravity: {x: 0, y: 0, z: 0.1}, mass: 3.4}"
But there is no controller like this available.
My controllerlist looks like this when the Ros2 driver is running. How can I use the Payload adjustment or the functions of the io Controller?
joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster active
joint_trajectory_controller joint_trajectory_controller/JointTrajectoryController inactive
forward_velocity_controller velocity_controllers/JointGroupVelocityController inactive
scaled_joint_trajectory_controller ur_controllers/ScaledJointTrajectoryController active
forward_position_controller position_controllers/JointGroupPositionController inactive
speed_scaling_state_broadcaster ur_controllers/SpeedScalingStateBroadcaster active
forward_effort_controller effort_controllers/JointGroupEffortController inactive
force_torque_sensor_broadcaster force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster active
force_mode_controller ur_controllers/ForceModeController inactive
ur_configuration_controller ur_controllers/URConfigurationController active
passthrough_trajectory_controller ur_controllers/PassthroughTrajectoryController inactive
freedrive_mode_controller ur_controllers/FreedriveModeController inactive
tcp_pose_broadcaster pose_broadcaster/PoseBroadcaster active
tool_contact_controller ur_controllers/ToolContactController inactive
Steps to Reproduce
taking ursim or the real robot with Polysope X and trying to adjust something on the io Controller.
Expected Behavior
The io Controller services are available
Actual Behavior
The Conroller seem to be totally changed in UR Script and the urscipt interface setting would directly stop the command when adjusting there something on for example the payload
Relevant log output
Accept Public visibility
Affected ROS2 Driver version(s)
Ros2 humble and Polyscope X
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel
How is the UR ROS2 Driver installed.
From binary packets
Which robot platform is the driver connected to.
Real robot
Robot SW / URSim version(s)
Polyscope X
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
I want to use the io Controller with the ros2 driver to adjust for example the Payload for taking a infrastucture plate. I am looking for that io Status controller but it seems to be totally gone.
I tried ros2 service call /io_and_status_controller/set_payload ur_msgs/srv/SetPayload "{center_of_gravity: {x: 0, y: 0, z: 0.1}, mass: 3.4}"
But there is no controller like this available.
My controllerlist looks like this when the Ros2 driver is running. How can I use the Payload adjustment or the functions of the io Controller?
joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster active
joint_trajectory_controller joint_trajectory_controller/JointTrajectoryController inactive
forward_velocity_controller velocity_controllers/JointGroupVelocityController inactive
scaled_joint_trajectory_controller ur_controllers/ScaledJointTrajectoryController active
forward_position_controller position_controllers/JointGroupPositionController inactive
speed_scaling_state_broadcaster ur_controllers/SpeedScalingStateBroadcaster active
forward_effort_controller effort_controllers/JointGroupEffortController inactive
force_torque_sensor_broadcaster force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster active
force_mode_controller ur_controllers/ForceModeController inactive
ur_configuration_controller ur_controllers/URConfigurationController active
passthrough_trajectory_controller ur_controllers/PassthroughTrajectoryController inactive
freedrive_mode_controller ur_controllers/FreedriveModeController inactive
tcp_pose_broadcaster pose_broadcaster/PoseBroadcaster active
tool_contact_controller ur_controllers/ToolContactController inactive
Steps to Reproduce
taking ursim or the real robot with Polysope X and trying to adjust something on the io Controller.
Expected Behavior
The io Controller services are available
Actual Behavior
The Conroller seem to be totally changed in UR Script and the urscipt interface setting would directly stop the command when adjusting there something on for example the payload
Relevant log output
Accept Public visibility