Hi all, as we received questions around some corners whether the new UR driver developed as part of the ROSin project (http://rosin-project.eu/ftp/universal-robots-ros-industrial-driver) is abandoned.
I can assure you, that it has not died and in fact will be released soon, hopefully. Currently, there are only one or two minor issues being resolved and there’s still some documentation to write before we will make the code available to the public.
We received mainly positive feedback from our closed beta group, so we are eagerly looking forward to open the project to a wider audience soon.
So, when will it be released?
Please understand, that we don’t want to give a fixed deadline to not disappoint anybody. However, we do have an internal deadline not too far away, that we are confident to meet.
How can I help?
There is a lot going on around the driver development. Other improvements going on in the universal_robots repository are closely related to this topic. For example, the following issue is related to a urdf description helping to get a calibrated robot representation. Contribution there is very welcome , especially if you are a bit more familiar with gazebo than I am.
Feature comparison and roadmap
To give you an estimate on what to expect from the new driver, we prepared a small feature comparison and roadmap listing the new driver’s features. If that list is to some extent wrong, please let me know. Any errors are not intentional.
|scaled position-based control||-||yes|
|reporting of tcp wrench||yes||yes|
|reporting of tcp wrench in tcp link||-||yes|
|pausing of programs||-||yes|
|continue trajectories after EM-Stop resume||-||yes|
|continue trajectories after protective stop||-||yes|
|panel interaction in between possible||no1||yes|
|get and set IO states||yes||yes|
|use tool communication on e-series||-||yes|
|use the driver without a teach pendant necessary||-||planned|
|support of CB2 robots||yes||-|
|trajectory extrapolation on robot on missing packages||no2||yes|
|use ROS as drop-in for TP-programs||-||yes|
|extract calibration from robot||-||yes|
|send custom script commands to robot||yes||yes|
|ROS 2 support||?||(planned)3|
|Reconnect on a disconnected robot||yes||yes|
1 Depending on the mode the driver is running the panel won’t react or using the panel
will stop the program without notifying the ROS user.
2 In velocity mode this is implicitly given.
3 There is no specific plan to do this inside of the first driver development. However,
it is structured in a way so that a ROS2 driver should be developed as easy as possible by keeping
as much as possible in a ros-independent library.