prl_ur10e_robot_configuration

Standard configuration for the UR10e of the Robotic Lab fo Inria Paris

Setups

The UR10e workbench has a few differents swappable grippers and sensors. Their configurations are available here.

All the configurations are stored in the /config folder. Each configuration contains a list of used devices and calibrations parameters that contain the positions of the arm, gripper, sensors, and kinematic parameters of the UR10e arm.

Custom gripper URDF

In the *_setup.yaml file, the type of gripper used for each arm is specified. Standard types are: 'onrobot-rg2', 'onrobot-rg6', 'onrobot-rg6-v2', etc.

To attach custom tools at the end the arm, custom URDFs need to be created to update the robot model. Those custom tools/URDF might not be long-lasting enough to integrate them in prl_ur5_robot repo. Thus, is what the custom_gripper/ directory of this repo is made for.

Usage

For example, to create a custom tool/gripper named my_gripper, prl_ur10e_description expects to see :

• A file prl_ur10e_robot_configuration/urdf/my_gripper.urdf.xacro containing:

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
  <xacro:macro name="my_gripper" params="parent *origin prefix">
      ...
  </xacro:macro>
</robot>

with the first link being the child of ${parent} with a transform of *origin and all the link and joint having the prefix ${prefix} in front of their names.

• A file prl_ur10e_robot_configuration/urdf/my_gripper.srdf.xacro containing:

<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:macro name="cylinder_tool_group_define" params="prefix">
        ...$1...
    </xacro:macro>

    <xacro:macro name="cylinder_tool_autocol" params="prefix">
        ...$2...
    </xacro:macro>

    <xacro:macro name="cylinder_tool_col_with" params="prefix link">
        ...$3...
    </xacro:macro>
</robot>

with $1 being <link> and <joint> tags defining the gripper, $2 being <disable_collision> tags to disable all the necessary autocollisions inside the gripper, and $3 being <disable_collision> tags to disable the collisions between all the gripper links and an arbitrary ${link} link.

Then in *_setup.yaml set:

...
  gripper: "custom:my_gripper"
...

Note: It is strongly recommended to create a link named ${prefix}_grasp_frame in the gripper URDF (corresponding to the tip/grasp point of the gripper/tool) to keep consistency with the other grippers.