sas_robot_driver_ur Directory Reference

Directories
	docker
	launch

Detailed Description

sas_robot_driver_ur

Remarks

More information about the SmartArmStack is available in https://smartarmstack.github.io/.

Important

Do not clone this repository directly. See https://github.com/MarinhoLab/sas_ur_control_template

ROS 2 Nodes & Parameters

Node: sas_robot_driver_ur_node

Property	Value
Executable	sas_robot_driver_ur_node
ROS node name	sas_robot_driver_ur
Description	Main driver node for the UR robot. Reads all parameters, instantiates RobotDriverUR (FRI/RTDE interface to the robot), ForceSensorServer (publishes TCP force/torque), and RobotDriverROS (runs the control loop).

Parameters

Parameter	Type	Mandatory / Optional	Default	Purpose
ip	string	Mandatory	none — must be provided	IP address of the UR robot controller (FRI/RTDE)
script_file	string	Mandatory	none — must be provided	Path to the URScript external-control program uploaded to the robot (e.g. external_control.urscript)
output_recipe	string	Mandatory	none — must be provided	RTDE output recipe (e.g. rtde_output_recipe.txt)
input_recipe	string	Mandatory	none — must be provided	RTDE input recipe (e.g. rtde_input_recipe.txt)
calibration_checksum	string	Mandatory	none — must be provided	Calibration checksum for the RTDE handshake; must match the robot's (e.g. calib_12788084448423163542)
joint_limits_min	array of 6 doubles (degrees)	Mandatory	none — must be provided	Minimum joint limits; converted from deg → rad internally
joint_limits_max	array of 6 doubles (degrees)	Mandatory	none — must be provided	Maximum joint limits; converted from deg → rad internally
thread_sampling_time_sec	double	Mandatory	none — must be provided	Sampling period of the robot control-loop thread (e.g. 0.002 s = 500 Hz)
turn_robot_off_on_connect	bool	Optional	true	Whether to power the robot off when connecting
turn_robot_off_on_disconnect	bool	Optional	true	Whether to power the robot off on disconnect

How mandatory/optional is determined in code:

• Mandatory params are read with sas::get_ros_parameter(...) — if missing, the node throws and fails to start.
• Optional params are read with sas::get_ros_optional_parameter(..., <default>) — they carry in-code defaults.