Updated set payload, zero ftsensor and set tool voltage to use the ur…

ur_robot_driver/doc/ROS_INTERFACE.md

@@ -49,6 +49,10 @@ Robot description launch file.
 
 IP address by which the robot can be reached.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (default: "50002")
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
@@ -150,6 +154,10 @@ Robot description launch file.
 
 IP address by which the robot can be reached.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (default: "50002")
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
@@ -211,6 +219,10 @@ Recipe file used for the RTDE-inputs. Only change this if you know what you're d
 
 Recipe file used for the RTDE-outputs. Only change this if you know what you're doing.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (default: "50002")
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
@@ -308,6 +320,10 @@ Robot description launch file.
 
 IP address by which the robot can be reached.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (default: "50002")
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
@@ -401,6 +417,10 @@ Robot description launch file.
 
 IP address by which the robot can be reached.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (default: "50002")
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
@@ -458,6 +478,10 @@ Robot description launch file.
 
 IP address by which the robot can be reached.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (default: "50002")
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
@@ -551,6 +575,10 @@ Robot description launch file.
 
 IP address by which the robot can be reached.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (default: "50002")
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
@@ -608,6 +636,10 @@ Robot description launch file.
 
 IP address by which the robot can be reached.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (default: "50002")
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
@@ -834,6 +866,10 @@ The robot's IP address.
 
 Path to the urscript code that will be sent to the robot.
 
+##### script_command_port (default: "50004")
+
+Port that will be opened to forward script commands to the robot when in local control mode.
+
 ##### script_sender_port (Required)
 
 The driver will offer an interface to receive the program's URScript on this port.

ur_robot_driver/include/ur_robot_driver/hardware_interface.h

@@ -52,6 +52,7 @@
 #include <ur_msgs/ToolDataMsg.h>
 #include <ur_msgs/SetIO.h>
 #include <ur_msgs/SetSpeedSliderFraction.h>
+#include <ur_msgs/SetPayload.h>
 
 #include <cartesian_interface/cartesian_command_interface.h>
 #include <cartesian_interface/cartesian_state_handle.h>
@@ -213,6 +214,7 @@ class HardwareInterface : public hardware_interface::RobotHW
   bool resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
   bool zeroFTSensor(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
   void commandCallback(const std_msgs::StringConstPtr& msg);
+  bool setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::SetPayloadResponse& res);
 
   std::unique_ptr<urcl::UrDriver> ur_driver_;
   std::unique_ptr<DashboardClientROS> dashboard_client_;

ur_robot_driver/launch/ur10_bringup.launch

@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>

ur_robot_driver/launch/ur10e_bringup.launch

@@ -7,6 +7,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>

ur_robot_driver/launch/ur16e_bringup.launch

@@ -7,6 +7,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>

ur_robot_driver/launch/ur3_bringup.launch

@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>

ur_robot_driver/launch/ur3e_bringup.launch

@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>

ur_robot_driver/launch/ur5_bringup.launch

@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>

ur_robot_driver/launch/ur5e_bringup.launch

@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>

ur_robot_driver/launch/ur_common.launch

@@ -8,6 +8,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller robot_status_controller" doc="Controllers that are activated by default."/>
@@ -41,6 +42,7 @@
     <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="trajectory_port" value="$(arg trajectory_port)"/>
+    <arg name="script_command_port" value="$(arg script_command_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>

ur_robot_driver/launch/ur_control.launch

@@ -13,6 +13,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller force_torque_sensor_controller robot_status_controller"/>
@@ -40,6 +41,7 @@
     <param name="reverse_port" type="int" value="$(arg reverse_port)"/>
     <param name="script_sender_port" type="int" value="$(arg script_sender_port)"/>
     <param name="trajectory_port" value="$(arg trajectory_port)"/>
+    <param name="script_command_port" value="$(arg script_command_port)"/>
     <rosparam command="load" file="$(arg kinematics_config)" />
     <param name="script_file" value="$(arg urscript_file)"/>
     <param name="output_recipe_file" value="$(arg rtde_output_recipe_file)"/>