Universal_Robots_ROS_Driver | Universal Robots ROS driver supporting CB3 and e-Series | Robotics library

by UniversalRobots C++ Version: v2.0.0 License: Apache-2.0

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kandi X-RAY | Universal_Robots_ROS_Driver Summary

Universal_Robots_ROS_Driver is a C++ library typically used in Automation, Robotics applications. Universal_Robots_ROS_Driver has no bugs, it has no vulnerabilities, it has a Permissive License and it has low support. You can download it from GitHub.

Universal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains. With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties. It is the core value of Universal Robots, to empower people to achieve any goal within automation. The success criteria of this driver release is to follow this vision, by providing the ROS community with an easy to use, stable and powerful driver, that empowers the community to reach their goals in research and automation without struggling with unimportant technical challenges, instability or lacking features.

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Support

Universal_Robots_ROS_Driver has a low active ecosystem.

It has 591 star(s) with 366 fork(s). There are 26 watchers for this library.

It had no major release in the last 12 months.

There are 85 open issues and 349 have been closed. On average issues are closed in 659 days. There are 18 open pull requests and 0 closed requests.

It has a neutral sentiment in the developer community.

The latest version of Universal_Robots_ROS_Driver is v2.0.0

Quality

Universal_Robots_ROS_Driver has 0 bugs and 0 code smells.

Security

Universal_Robots_ROS_Driver has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.

Universal_Robots_ROS_Driver code analysis shows 0 unresolved vulnerabilities.

There are 0 security hotspots that need review.

License

Universal_Robots_ROS_Driver is licensed under the Apache-2.0 License. This license is Permissive.

Permissive licenses have the least restrictions, and you can use them in most projects.

Reuse

Universal_Robots_ROS_Driver releases are available to install and integrate.

Installation instructions, examples and code snippets are available.

It has 431 lines of code, 10 functions and 6 files.

It has high code complexity. Code complexity directly impacts maintainability of the code.

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Universal_Robots_ROS_Driver Key Features

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Universal_Robots_ROS_Driver Examples and Code Snippets

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Community Discussions

Trending Discussions on Universal_Robots_ROS_Driver

Difference between the ROS UniversalRobots/Universal_Robots_ROS_Driver and the ros-industrial/universal_robot driver

QUESTION

Difference between the ROS UniversalRobots/Universal_Robots_ROS_Driver and the ros-industrial/universal_robot driver

Asked 2021-Jul-07 at 13:50

I've tried to understand the difference between the two ROS Universal Robot drivers and decide which one to use. So far, I'm mainly confused. As I am new to ROS and robot control I'd appreciate any explanation and hints where to start looking for more details.

From what I've seen, there are two Universal Robot ROS drivers available

(1) https://github.com/ros-industrial/universal_robot

(2) https://github.com/UniversalRobots/Universal_Robots_ROS_Driver

with (1) being "supplemented" by (3) https://github.com/fmauch/universal_robot/tree/calibration_devel.

(1) wasn't updated in while whereas (2) seems to get regular updates. Yet (3) seems to suggest that (1) is still being worked on (see https://github.com/ros-industrial/universal_robot/issues/573 as well). Which one is the "active" one? Which one should be used for which use case?

It also seems to me that I can't use (2) with gazebo. However, as I said, I'm new to ROS and might be misunderstanding something entirely. What I'd like to be able to do is simulate an UR10e to develop my application within gazebo and then swap to the real robot as transparently as possible.

Thanks to all the maintainers of the UR ROS drivers (from both/all repos :))!

...

ANSWER

Answered 2021-Jul-07 at 13:50

The ROS-Industrial set of drivers was the original community driven drivers, started back in 2012. While sparsely updated compared to back then, since it has the force & name of ROS Industrial, the community is still actively submitting issues, PR, and they are (slowly) getting merged in, as needed.

The Universal Robotics drivers were started back in 2016, as the company's official ROS support, with support from ROS Industrial for the "modernization" of the drivers. It's seeing a ton of active development & upkeep, as there are dedicated people to maintaining just this repo & drivers.

They are both active, and functionally, they likely both work for what you're trying to do (since what you want seems simple or solved). Once the driver is written, if the device doesn't change, the driver doesn't need to. For example, the older ROS Industrial has a bunch of documentation (possibly old but still good) on using the drivers with Gazebo, and drivers for UR 10e (a very common device), so that would be sufficient for your needs. If you get done what you need to get done, that's fine.

As for the UR official drivers, they are (with ROS Industrial group's support) the "new" and "modern" drivers, to extend the functionality from the older drivers; I suppose I should be recommending you to use these, but they are still work-in-progress. If there are features/limitations in the old drivers that you need, they should be fixed in the modern drivers. To not date this reply too much, the exact coverage is constantly increasing, and the support should be quicker than the old drivers. Eventually, full functionality and more will be done through this "modern" branch; for example, ROS2 support will/should not be added to the older ROS Industrial drivers.

Source https://stackoverflow.com/questions/68258402

Community Discussions, Code Snippets contain sources that include Stack Exchange Network

Vulnerabilities

No vulnerabilities reported

Install Universal_Robots_ROS_Driver

If you would like to also build the library from source, clone the library into your workspace, as well and build it using either catkin_make_isolated or catkin build.

Support

This driver supports all UR variants including the UR16e. However, upstream support for the UR16e is not finished, yet. When using the UR16e there is currently no support for gazebo or MoveIt!. See #97 for details on using the latest upstream develop branch of ros_industrial/universal_robot which includes gazebo support for the ur16e, but no working MoveIt! support at the time of writing.

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