Skip to content

Commit a9ce3a0

Browse files
nitish3693nitish3693
authored
Merge pull request #3 from Extend-Robotics/PSI-213-UR7e-Integration
PSI-213 UR7e integration
2 parents 6e32df1 + 67130bb commit a9ce3a0

249 files changed

Lines changed: 8912 additions & 869 deletions

File tree

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

‎.github/workflows/ci_bionic.yml‎

Lines changed: 0 additions & 46 deletions
This file was deleted.

.github/workflows/ci_focal.yml renamed to .github/workflows/ci_noetic.yml

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
name: CI - Ubuntu Focal
1+
name: CI - ROS Noetic
22

33
on:
44
# direct pushes to protected branches are not supported
@@ -12,7 +12,7 @@ on:
1212
jobs:
1313
industrial_ci:
1414
name: ROS Noetic (${{ matrix.ros_repo }})
15-
runs-on: ubuntu-20.04
15+
runs-on: ubuntu-24.04 # the ICI job itself will be running in a container.
1616

1717
strategy:
1818
fail-fast: false
@@ -25,10 +25,10 @@ jobs:
2525

2626
steps:
2727
- name: Fetch repository
28-
uses: actions/checkout@v3
28+
uses: actions/checkout@v4
2929

3030
- name: ccache cache
31-
uses: actions/cache@v3
31+
uses: actions/cache@v4
3232
with:
3333
path: ${{ env.CCACHE_DIR }}
3434
# we always want the ccache cache to be persisted, as we cannot easily

‎README.md‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,6 @@
11
# Universal Robot
22

3-
[![Build Status: Ubuntu Bionic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Bionic/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Bionic%22)
4-
[![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22)
3+
[![Build Status: ROS Noetic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20ROS%20Noetic/badge.svg?branch=noetic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+ROS+Noetic%22)
54

65
[![License - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)
76
[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)

‎universal_robots/CHANGELOG.rst‎

Lines changed: 11 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,17 @@
22
Changelog for package universal_robots
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
1.5.0 (2025-05-13)
6+
------------------
7+
* Add support for UR15 (`#702 <https://github.com/ros-industrial/universal_robot/issues/702>`_)
8+
* Add License files to packages (`#695 <https://github.com/ros-industrial/universal_robot/issues/695>`_)
9+
* Contributors: Felix Exner
10+
11+
1.4.0 (2025-03-31)
12+
------------------
13+
* Add moveit configs for ur7e and ur12e to metapackage (`#693 <https://github.com/ros-industrial/universal_robot/issues/693>`_)
14+
* Contributors: Felix Exner
15+
516
1.3.3 (2024-04-08)
617
------------------
718
* UR30 description and meshes (`#674 <https://github.com/ros-industrial/universal_robot/issues/674>`_)

‎universal_robots/LICENSE‎

Lines changed: 25 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,25 @@
1+
Redistribution and use in source and binary forms, with or without
2+
modification, are permitted provided that the following conditions are met:
3+
4+
* Redistributions of source code must retain the above copyright
5+
notice, this list of conditions and the following disclaimer.
6+
7+
* Redistributions in binary form must reproduce the above copyright
8+
notice, this list of conditions and the following disclaimer in the
9+
documentation and/or other materials provided with the distribution.
10+
11+
* Neither the name of the copyright holder nor the names of its
12+
contributors may be used to endorse or promote products derived from
13+
this software without specific prior written permission.
14+
15+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
16+
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
17+
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
18+
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
19+
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
20+
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21+
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
22+
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
23+
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24+
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
25+
POSSIBILITY OF SUCH DAMAGE.

‎universal_robots/package.xml‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="2">
44
<name>universal_robots</name>
5-
<version>1.3.3</version>
5+
<version>1.5.0</version>
66
<description>ROS-Industrial support for Universal Robots manipulators (metapackage).</description>
77
<author>Felix Messmer</author>
88
<author>Kelsey Hawkins</author>
@@ -22,13 +22,16 @@
2222

2323
<exec_depend>ur10e_moveit_config</exec_depend>
2424
<exec_depend>ur10_moveit_config</exec_depend>
25+
<exec_depend>ur12e_moveit_config</exec_depend>
2526
<exec_depend>ur16e_moveit_config</exec_depend>
27+
<exec_depend>ur15_moveit_config</exec_depend>
2628
<exec_depend>ur20_moveit_config</exec_depend>
2729
<exec_depend>ur30_moveit_config</exec_depend>
2830
<exec_depend>ur3e_moveit_config</exec_depend>
2931
<exec_depend>ur3_moveit_config</exec_depend>
3032
<exec_depend>ur5e_moveit_config</exec_depend>
3133
<exec_depend>ur5_moveit_config</exec_depend>
34+
<exec_depend>ur7e_moveit_config</exec_depend>
3235
<exec_depend>ur_description</exec_depend>
3336
<exec_depend>ur_gazebo</exec_depend>
3437

‎ur10_moveit_config/CHANGELOG.rst‎

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,14 @@
22
Changelog for package ur10_moveit_config
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
1.5.0 (2025-05-13)
6+
------------------
7+
* Add License files to packages (`#695 <https://github.com/ros-industrial/universal_robot/issues/695>`_)
8+
* Contributors: Felix Exner
9+
10+
1.4.0 (2025-03-31)
11+
------------------
12+
513
1.3.3 (2024-04-08)
614
------------------
715

‎ur10_moveit_config/LICENSE‎

Lines changed: 25 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,25 @@
1+
Redistribution and use in source and binary forms, with or without
2+
modification, are permitted provided that the following conditions are met:
3+
4+
* Redistributions of source code must retain the above copyright
5+
notice, this list of conditions and the following disclaimer.
6+
7+
* Redistributions in binary form must reproduce the above copyright
8+
notice, this list of conditions and the following disclaimer in the
9+
documentation and/or other materials provided with the distribution.
10+
11+
* Neither the name of the copyright holder nor the names of its
12+
contributors may be used to endorse or promote products derived from
13+
this software without specific prior written permission.
14+
15+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
16+
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
17+
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
18+
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
19+
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
20+
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21+
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
22+
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
23+
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24+
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
25+
POSSIBILITY OF SUCH DAMAGE.

‎ur10_moveit_config/config/kinematics.yaml‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,8 @@
33
# kinematics_solver_search_resolution: 0.005
44
# kinematics_solver_timeout: 0.005
55
manipulator:
6-
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
7-
solve_type: Distance
6+
kinematics_solver: bio_ik/BioIKKinematicsPlugin
87
kinematics_solver_search_resolution: 0.005
9-
kinematics_solver_timeout: 0.005
8+
kinematics_solver_timeout: 0.02
9+
minimal_displacement_weight: 0.8
10+
mode: gd_c

‎ur10_moveit_config/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<package format="2">
33

44
<name>ur10_moveit_config</name>
5-
<version>1.3.3</version>
5+
<version>1.5.0</version>
66
<description>
77
An automatically generated package with all the configuration and launch files for using the ur10 with the MoveIt Motion Planning Framework
88
</description>

0 commit comments

Comments
 (0)