Force mode arguments ros2

.github/workflows/ci_ros2_stable.yml

@@ -12,19 +12,19 @@ on:
 jobs:
   industrial_ci:
     name: ROS ${{ matrix.ros_distro }} (${{ matrix.ros_repo }})
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
 
     strategy:
       matrix:
-        ros_distro: [ foxy, galactic ]
-        ros_repo: [ main ]
+        ros_distro: [humble, iron, jazzy, rolling]
+        ros_repo: [main]
 
     env:
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
 
     steps:
       - name: Fetch repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: ccache cache
         uses: actions/cache@v3

CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package ur_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.1 (2024-10-07)
+------------------
+* [ROS 2] Update README and ci (`#31 <https://github.com/ros-industrial/ur_msgs/issues/31>`_)
+* Add a service to set an analog output (`#30 <https://github.com/ros-industrial/ur_msgs/issues/30>`_)
+* Added service for getting the software version of the robot. (`#25 <https://github.com/ros-industrial/ur_msgs/issues/25>`_)
+* ci: bump checkout and cache (`#23 <https://github.com/ros-industrial/ur_msgs/issues/23>`_)
+* Contributors: Felix Exner, G.A. vd. Hoorn, URJala
+
 2.0.0 (2022-04-12)
 ------------------
 * Porting to ros2 (`#12 <https://github.com/destogl/ur_msgs/issues/12>`_)

CMakeLists.txt

@@ -17,10 +17,12 @@ set(msg_files
 )
 
 set(srv_files
+  srv/SetAnalogOutput.srv
   srv/SetPayload.srv
   srv/SetSpeedSliderFraction.srv
   srv/SetIO.srv
   srv/GetRobotSoftwareVersion.srv
+  srv/SetForceMode.srv
 )
 
 if(BUILD_TESTING)

README.md

@@ -1,13 +1,13 @@
 # ur_msgs
 
-[![Build Status](http://build.ros.org/job/Mdev__ur_msgs__ubuntu_bionic_amd64/badge/icon)](http://build.ros.org/job/Mdev__ur_msgs__ubuntu_bionic_amd64)
-[![Build Status: Travis CI](https://travis-ci.com/ros-industrial/ur_msgs.svg?branch=melodic-devel)](https://travis-ci.com/ros-industrial/ur_msgs)
-[![Github Issues](https://img.shields.io/github/issues/ros-industrial/ur_msgs.svg)](http://github.com/ros-industrial/ur_msgs/issues)
+[![Build Status](https://build.ros2.org/job/Hbin_uJ64__ur_msgs__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__ur_msgs__ubuntu_jammy_amd64__binary/)
+[![CI - ROS2 stable](https://github.com/ros-industrial/ur_msgs/actions/workflows/ci_ros2_stable.yml/badge.svg?branch=humble-devel)](https://github.com/ros-industrial/ur_msgs/actions/workflows/ci_ros2_stable.yml)
+[![GitHub Issues](https://img.shields.io/github/issues/ros-industrial/ur_msgs.svg)](http://github.com/ros-industrial/ur_msgs/issues)
 
 [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
 [![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.svg)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
 
 Message and service definitions for use with packages supporting and interacting with Universal Robots' robot controllers.
 
-See the ROS wiki for more information: [wiki/ur_msgs](http://wiki.ros.org/ur_msgs).
+See the ROS index for more information: [index.ros.org/p/ur_msgs](https://index.ros.org/p/ur_msgs/github-ros-industrial-ur_msgs/#humble).

msg/MasterboardDataMsg.msg

@@ -1,7 +1,7 @@
 # This data structure contains the MasterboardData structure
 # used by the Universal Robots controller
 #
-# MasterboardData is part of the data structure being send on the 
+# MasterboardData is part of the data structure being send on the
 # secondary client communications interface
 # 
 # This data structure is send at 10 Hz on TCP port 30002

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_msgs</name>
-  <version>2.0.0</version>
+  <version>2.0.1</version>
   <description>Message and service definitions for interacting with Universal Robots robot controllers.</description>
   <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer>
   <maintainer email="miguel.prada@tecnalia.com">Miguel Prada Sarasola</maintainer>

srv/SetAnalogOutput.srv

@@ -0,0 +1,3 @@
+Analog data
+---
+bool success

srv/SetForceMode.srv

@@ -0,0 +1,42 @@
+# A 6d pose that defines the force frame. Must be static relative to the robot's base frame.
+geometry_msgs/PoseStamped task_frame
+
+# 1 means that the robot will be compliant in the corresponding axis of the task frame
+bool selection_vector_x 0 
+bool selection_vector_y 0
+bool selection_vector_z 0
+bool selection_vector_rx 0
+bool selection_vector_ry 0
+bool selection_vector_rz 0
+
+# The forces/torques the robot will apply to its environment. For geometric interpretation, please
+# see parameter `type`
+geometry_msgs/WrenchStamped wrench
+
+# An integer [1;3] specifying how the robot interprets the force frame
+# 1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing
+#    from the robot tcp towards the origin of the force frame.
+# 2: The force frame is not transformed.
+# 3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp
+#     velocity vector onto the x-y plane of the force frame.
+uint8 type 2
+# Type constants:
+uint8 TCP_TO_ORIGIN=1
+uint8 NO_TRANSFORM=2
+uint8 TCP_VELOCITY_TO_X_Y=3
+
+# For compliant axes, these values are the maximum allowed tcp speed along/about the axis.
+# For non-compliant axes, these values are the maximum allowed deviation along/about an axis
+# between the actual tcp position and the one set by the program.
+float32[6] limits [0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
+
+# Force mode damping factor. Sets the damping parameter in force mode. In range [0;1], default value is 0.025
+# A value of 1 is full damping, so the robot will decelerate quickly if no force is present. A value of 0
+# is no damping, here the robot will maintain the speed.
+float32 damping_factor 0.025
+
+# Force mode gain scaling factor. Scales the gain in force mode. scaling parameter is in range [0;2], default is 0.5. 
+# A value larger than 1 can make force mode unstable, e.g. in case of collisions or pushing against hard surfaces.
+float32 gain_scaling 0.5
+---
+bool success