Merge pull request #1 from UniversalRobots/master

update our master

ur_dashboard_msgs/package.xml

@@ -2,7 +2,7 @@
 <package format="2">
   <name>ur_dashboard_msgs</name>
   <version>0.0.0</version>
-  <description>Messages around the UR Dashbaord server.</description>
+  <description>Messages around the UR Dashboard server.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

ur_robot_driver/doc/ROS_INTERFACE.md

@@ -32,6 +32,10 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur3e_upload.launch")
 
     Robot description launch file.
@@ -40,6 +44,10 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n
 
     IP address by which the robot can be reached.
 
+ * "**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.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -113,6 +121,10 @@ Standalone launchfile to startup a ur10 robot. This requires a robot reachable v
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_description)/launch/ur10_upload.launch")
 
     Robot description launch file.
@@ -121,6 +133,10 @@ Standalone launchfile to startup a ur10 robot. This requires a robot reachable v
 
     IP address by which the robot can be reached.
 
+ * "**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.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -158,6 +174,10 @@ Robot bringup launchfile without the robot description. Include this, if you wan
 
     Please add description. See file "launch/ur_control.launch".
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_ip**" (Required)
 
     IP address by which the robot can be reached.
@@ -170,6 +190,10 @@ Robot bringup launchfile without the robot description. Include this, if you wan
 
     Recipe file used for the RTDE-outputs. Only change this if you know what you're doing.
 
+ * "**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.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -247,6 +271,10 @@ Launchfile that starts a robot description with robot_state publisher and the dr
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (Required)
 
     Robot description launch file.
@@ -255,6 +283,10 @@ Launchfile that starts a robot description with robot_state publisher and the dr
 
     IP address by which the robot can be reached.
 
+ * "**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.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -328,6 +360,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_description)/launch/ur5_upload.launch")
 
     Robot description launch file.
@@ -336,6 +372,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
     IP address by which the robot can be reached.
 
+ * "**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.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -373,6 +413,10 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur5e_upload.launch")
 
     Robot description launch file.
@@ -381,6 +425,10 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v
 
     IP address by which the robot can be reached.
 
+ * "**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.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -454,6 +502,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_description)/launch/ur3_upload.launch")
 
     Robot description launch file.
@@ -462,6 +514,10 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
     IP address by which the robot can be reached.
 
+ * "**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.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -499,6 +555,10 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable
 
     Use the description in limited mode (Every axis rotates from -PI to PI)
 
+ * "**reverse_port**" (default: "50001")
+
+    Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
+
  * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur10e_upload.launch")
 
     Robot description launch file.
@@ -507,6 +567,10 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable
 
     IP address by which the robot can be reached.
 
+ * "**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.
+
  * "**stopped_controllers**" (default: "pos_traj_controller")
 
     Controllers that are initally loaded, but not started.
@@ -673,6 +737,10 @@ This is the actual driver node containing the ROS-Control stack. Interfaces docu
 
     Set the speed slider fraction used by the robot's execution. Values should be between 0 and 1. Only set this smaller than 1 if you are using the scaled controllers (as by default) or you know what you're doing. Using this with other controllers might lead to unexpected behaviors.
 
+ * "**zero_ftsensor**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html))
+
+    Calling this service will zero the robot's ftsensor. Note: On e-Series robots this will only work when the robot is in remote-control mode.
+
 #### Parameters
  * "**dashboard/receive_timeout**" (Required)
 
@@ -698,6 +766,10 @@ This is the actual driver node containing the ROS-Control stack. Interfaces docu
 
     Path to the file containing the recipe used for requesting RTDE outputs.
 
+ * "**reverse_port**" (Required)
+
+    Port that will be opened to communicate between the driver and the robot controller.
+
  * "**robot_ip**" (Required)
 
     The robot's IP address.
@@ -706,9 +778,13 @@ This is the actual driver node containing the ROS-Control stack. Interfaces docu
 
     Path to the urscript code that will be sent to the robot.
 
+ * "**script_sender_port**" (Required)
+
+    The driver will offer an interface to receive the program's URScript on this port.
+
  * "**tf_prefix**" (default: "")
 
-    Please add description. See hardware_interface.cpp line number: 68
+    Please add description. See hardware_interface.cpp line number: 74
 
 
 

ur_robot_driver/include/ur_robot_driver/ros/hardware_interface.h

@@ -190,12 +190,14 @@ protected:
   bool setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req, ur_msgs::SetSpeedSliderFractionResponse& res);
   bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
   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);
 
   std::unique_ptr<UrDriver> ur_driver_;
   std::unique_ptr<DashboardClientROS> dashboard_client_;
 
   ros::ServiceServer deactivate_srv_;
+  ros::ServiceServer tare_sensor_srv_;
 
   hardware_interface::JointStateInterface js_interface_;
   ur_controllers::ScaledPositionJointInterface spj_interface_;

ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h

@@ -31,6 +31,7 @@
 #include "ur_robot_driver/comm/reverse_interface.h"
 #include "ur_robot_driver/comm/script_sender.h"
 #include "ur_robot_driver/ur/tool_communication.h"
+#include "ur_robot_driver/ur/version_information.h"
 #include "ur_robot_driver/primary/robot_message/version_message.h"
 #include "ur_robot_driver/rtde/rtde_writer.h"
 
@@ -57,10 +58,15 @@ public:
    * \param tool_comm_setup Configuration for using the tool communication.
    * \param calibration_checksum Expected checksum of calibration. Will be matched against the
    * calibration reported by the robot.
+   * \param reverse_port Port that will be opened by the driver to allow direct communication between the driver
+   * and the robot controller.
+   * \param script_sending_port 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.
    */
   UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
            const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
-           std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum = "");
+           std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum = "",
+           const uint32_t reverse_port = 50001, const uint32_t script_sender_port = 50002);
   /*!
    * \brief Constructs a new UrDriver object.
    *
@@ -72,12 +78,17 @@ public:
    * \param headless_mode Parameter to control if the driver should be started in headless mode.
    * \param calibration_checksum Expected checksum of calibration. Will be matched against the
    * calibration reported by the robot.
+   * \param reverse_port Port that will be opened by the driver to allow direct communication between the driver
+   * and the robot controller
+   * \param script_sending_port 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.
    */
   UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
            const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
-           const std::string& calibration_checksum = "")
+           const std::string& calibration_checksum = "", const uint32_t reverse_port = 50001,
+           const uint32_t script_sender_port = 50002)
     : UrDriver(robot_ip, script_file, output_recipe_file, input_recipe_file, handle_program_state, headless_mode,
-               std::unique_ptr<ToolCommSetup>{}, calibration_checksum)
+               std::unique_ptr<ToolCommSetup>{}, calibration_checksum, reverse_port, script_sender_port)
   {
   }
 
@@ -173,6 +184,14 @@ public:
    */
   bool sendRobotProgram();
 
+  /*!
+   * \brief Returns version information about the currently connected robot
+   */
+  const VersionInformation& getVersion()
+  {
+    return robot_version_;
+  }
+
 private:
   std::string readScriptFile(const std::string& filename);
   std::string readKeepalive();
@@ -197,6 +216,8 @@ private:
   std::string robot_ip_;
   bool in_headless_mode_;
   std::string full_robot_program_;
+
+  VersionInformation robot_version_;
 };
 }  // namespace ur_driver
 #endif  // ifndef UR_RTDE_DRIVER_UR_UR_DRIVER_H_INCLUDED

ur_robot_driver/include/ur_robot_driver/ur/version_information.h

@@ -44,6 +44,12 @@ struct VersionInformation
     bugfix = 0;
     build = 0;
   }
+
+  friend std::ostream& operator<<(std::ostream& os, const VersionInformation& version_info)
+  {
+    os << version_info.major << "." << version_info.minor << "." << version_info.bugfix << "-" << version_info.build;
+    return os;
+  }
   uint32_t major;   ///< Major version number
   uint32_t minor;   ///< Minor version number
   uint32_t bugfix;  ///< Bugfix version number

ur_robot_driver/launch/ur10_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <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="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -17,6 +19,8 @@
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>

ur_robot_driver/launch/ur10e_bringup.launch

@@ -3,6 +3,8 @@
 
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <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="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -28,6 +30,8 @@
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>

ur_robot_driver/launch/ur3_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <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="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -17,6 +19,8 @@
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>

ur_robot_driver/launch/ur3e_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <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="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -27,6 +29,8 @@
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>

ur_robot_driver/launch/ur5_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <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="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -17,6 +19,8 @@
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>

ur_robot_driver/launch/ur5e_bringup.launch

@@ -2,6 +2,8 @@
 <launch>
   <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <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="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
@@ -27,6 +29,8 @@
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="limited" value="$(arg limited)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>

ur_robot_driver/launch/ur_common.launch

@@ -4,6 +4,8 @@
   <arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
   <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <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="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_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
@@ -34,6 +36,8 @@
     <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
+    <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>

ur_robot_driver/launch/ur_control.launch

@@ -9,6 +9,8 @@
   <arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
   <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <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="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_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
@@ -29,6 +31,8 @@
   <!-- Load hardware interface -->
   <node name="ur_hardware_interface" pkg="ur_robot_driver" type="ur_robot_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
     <param name="robot_ip" type="str" value="$(arg robot_ip)"/>
+    <param name="reverse_port" type="int" value="$(arg reverse_port)"/>
+    <param name="script_sender_port" type="int" value="$(arg script_sender_port)"/>
     <rosparam command="load" file="$(arg kinematics_config)" />
     <param name="script_file" value="$(arg urscript_file)"/>
     <param name="output_recipe_file" value="$(arg rtde_output_recipe_file)"/>
@@ -48,6 +52,8 @@
   <!-- Starts socat to bridge the robot's tool communication interface to a local tty device -->
   <node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_robot_driver" type="tool_communication" respawn="false" output="screen">
     <param name="robot_ip" value="$(arg robot_ip)"/>
+    <param name="reverse_port" type="int" value="$(arg reverse_port)"/>
+    <param name="script_sender_port" type="int" value="$(arg script_sender_port)"/>
     <param name="device_name" value="$(arg tool_device_name)"/>
     <param name="tcp_port" value="$(arg tool_tcp_port)"/>
   </node>

ur_robot_driver/package.xml

@@ -15,8 +15,8 @@
   <license>Zlib</license>
 
   <url type="website">http://wiki.ros.org/ur_robot_driver</url>
-  <url type="bugtracker">https://github.com/ros-industrial/ur_robot_driver/issues</url>
-  <url type="repository">https://github.com/ros-industrial/ur_robot_driver</url>
+  <url type="bugtracker">https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues</url>
+  <url type="repository">https://github.com/UniversalRobots/Universal_Robots_ROS_Driver</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 

ur_robot_driver/src/ros/dashboard_client_ros.cpp

@@ -35,7 +35,6 @@ DashboardClientROS::DashboardClientROS(const ros::NodeHandle& nh, const std::str
   connect();
 
   // Service to release the brakes. If the robot is currently powered off, it will get powered on on the fly.
-  // brake_release_service_ = create_dashboard_trigger_srv("brake_release", "brake release\n", "Brake releasing");
   brake_release_service_ = create_dashboard_trigger_srv("brake_release", "brake release\n", "Brake releasing");
 
   // If this service is called the operational mode can again be changed from PolyScope, and the user password is
@@ -130,7 +129,7 @@ DashboardClientROS::DashboardClientROS(const ros::NodeHandle& nh, const std::str
       });
 
   // Service to query the current program state
-  popup_service_ =
+  program_state_service_ =
       nh_.advertiseService<ur_dashboard_msgs::GetProgramState::Request, ur_dashboard_msgs::GetProgramState::Response>(
           "program_state",
           [&](ur_dashboard_msgs::GetProgramState::Request& req, ur_dashboard_msgs::GetProgramState::Response& resp) {
@@ -163,7 +162,7 @@ DashboardClientROS::DashboardClientROS(const ros::NodeHandle& nh, const std::str
           });
 
   // General purpose service to send arbitrary messages to the dashboard server
-  running_service_ =
+  raw_request_service_ =
       nh_.advertiseService<ur_dashboard_msgs::RawRequest::Request, ur_dashboard_msgs::RawRequest::Response>(
           "raw_request",
           [&](ur_dashboard_msgs::RawRequest::Request& req, ur_dashboard_msgs::RawRequest::Response& resp) {

ur_robot_driver/src/ros/hardware_interface.cpp

@@ -65,6 +65,12 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
     return false;
   }
 
+  // Port that will be opened to communicate between the driver and the robot controller.
+  int reverse_port = robot_hw_nh.param("reverse_port", 50001);
+
+  // The driver will offer an interface to receive the program's URScript on this port.
+  int script_sender_port = robot_hw_nh.param("script_sender_port", 50002);
+
   robot_hw_nh.param<std::string>("tf_prefix", tf_prefix_, "");
 
   // Path to the urscript code that will be sent to the robot.
@@ -207,7 +213,8 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
   {
     ur_driver_.reset(new UrDriver(robot_ip_, script_filename, output_recipe_filename, input_recipe_filename,
                                   std::bind(&HardwareInterface::handleRobotProgramState, this, std::placeholders::_1),
-                                  headless_mode, std::move(tool_comm_setup), calibration_checksum));
+                                  headless_mode, std::move(tool_comm_setup), calibration_checksum,
+                                  (uint32_t)reverse_port, (uint32_t)script_sender_port));
   }
   catch (ur_driver::ToolCommNotAvailable& e)
   {
@@ -315,6 +322,10 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
   // Calling this service will make the "External Control" program node on the UR-Program return.
   deactivate_srv_ = robot_hw_nh.advertiseService("hand_back_control", &HardwareInterface::stopControl, this);
 
+  // Calling this service will zero the robot's ftsensor. Note: On e-Series robots this will only
+  // work when the robot is in remote-control mode.
+  tare_sensor_srv_ = robot_hw_nh.advertiseService("zero_ftsensor", &HardwareInterface::zeroFTSensor, this);
+
   ur_driver_->startRTDECommunication();
   ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");
 
@@ -694,6 +705,28 @@ bool HardwareInterface::resendRobotProgram(std_srvs::TriggerRequest& req, std_sr
   return true;
 }
 
+bool HardwareInterface::zeroFTSensor(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
+{
+  if (ur_driver_->getVersion().major < 5)
+  {
+    std::stringstream ss;
+    ss << "Zeroing the Force-Torque sensor is only available for e-Series robots (Major version >= 5). This robot's "
+          "version is "
+       << ur_driver_->getVersion();
+    ROS_ERROR_STREAM(ss.str());
+    res.message = ss.str();
+    res.success = false;
+  }
+  else
+  {
+    res.success = this->ur_driver_->sendScript(R"(sec tareSensor():
+  zero_ftsensor()
+end
+)");
+  }
+  return true;
+}
+
 void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
 {
   std::string str = msg->data;
@@ -745,4 +778,4 @@ void HardwareInterface::publishRobotAndSafetyMode()
 }
 }  // namespace ur_driver
 
-PLUGINLIB_EXPORT_CLASS(ur_driver::HardwareInterface, hardware_interface::RobotHW)
\ No newline at end of file
+PLUGINLIB_EXPORT_CLASS(ur_driver::HardwareInterface, hardware_interface::RobotHW)

ur_robot_driver/src/rtde/data_package.cpp

@@ -58,7 +58,7 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "speed_scaling", double() },
   { "target_speed_fraction", double() },
   { "actual_momentum", double() },
-  { "actial_main_voltage", double() },
+  { "actual_main_voltage", double() },
   { "actual_robot_voltage", double() },
   { "actual_robot_current", double() },
   { "actual_joint_voltage", vector6d_t() },

ur_robot_driver/src/ur/ur_driver.cpp

@@ -50,11 +50,13 @@ static const std::string SERVER_PORT_REPLACE("{{SERVER_PORT_REPLACE}}");
 ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file,
                               const std::string& output_recipe_file, const std::string& input_recipe_file,
                               std::function<void(bool)> handle_program_state, bool headless_mode,
-                              std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum)
+                              std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum,
+                              const uint32_t reverse_port, const uint32_t script_sender_port)
   : servoj_time_(0.008)
   , servoj_gain_(2000)
   , servoj_lookahead_time_(0.03)
   , reverse_interface_active_(false)
+  , reverse_port_(reverse_port)
   , handle_program_state_(handle_program_state)
   , robot_ip_(robot_ip)
 {
@@ -80,9 +82,6 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
 
   std::string local_ip = rtde_client_->getIP();
 
-  uint32_t reverse_port = 50001;        // TODO: Make this a parameter
-  uint32_t script_sender_port = 50002;  // TODO: Make this a parameter
-