ros-industrial / ur_msgs

ROS messages and services for Universal Robots robot controllers.

ur_msgs

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.

ur_msgs's Issues

Release for ROS noetic?

As more and more people are migrating towards ROS noetic it might be good to release this repository to ROS noetic, as well. As this package has very little (core) dependencies, it shouldn't be too much of an effort, right?

How to Install this package for Ros2?

I am trying to install https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver but I am unable because of the following message:

executing command [sudo -H apt-get install -y ros-foxy-ur-msgs]
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package ros-foxy-ur-msgs
ERROR: the following rosdeps failed to install
  apt: command [sudo -H apt-get install -y ros-foxy-ur-msgs] failed
  apt: Failed to detect successful installation of [ros-foxy-ur-msgs]

How can I install it? should I just include it as a regulare package?

Analog output domain in setIO service

Currently, the setIO service does not support specifying the domain (voltage / current) when setting an analog output. This should be included. Before creating a PR, I'd like to clarify whether it might be worth it, splitting the setIO service into multiple services, as there are quite different things this service does handle. We have the Analog.msg and Digital.msg messages already that contain the necessary fields. With defining individual services we could reuse them directly instead of adding yet another (optional) field to the setIO service.

In the current ur_robot_driver implementation we unpack the service request anyway and call different functions depending on the request's content.

Version for ros2?

Thanks for approving #12 @gavanderhoorn. While preparing the release I stumbled upon two questions:

1. What should be the version bump for the ROS2 version? I would intuitively suggest 2.0.0 as we are starting a different track here. One could argue, that the messages themselves are still the same as with 1.3.4, though.
2. Just to confirm: Once the version has been bumped and tagged, I would create a foxy branch on that commit and release all (Foxy, Galactic and Rolling) from that branch. A quick ack on that from your side @gavanderhoorn would be very much apreciated.

Set_io service issue

Hey, I am using a UR10e robot and ROS2 Humble. When calling the ur_msg/srv/SetIO service from terminal trying to set a certain I/O pin to 1 or 0 i get a response that it is unable to do this setting of the pin value. I'd like to mention that it is possible for me to connect to Rviz and control the robot this way without an issue. To me it seems that the service can't comunicate to the robot so I would like some help on this one. Thanks.

Add ros time to ur_msgs

I need to synchronize IOStates with other messages, this is not possible when time is not included in messages.