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Add support for UR7e and UR12e
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‎README.md

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@@ -115,7 +115,7 @@ For getting started, you'll basically need three steps:
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details.
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```bash
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# Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30
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# Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur20, ur30
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# Replace the IP address with the IP address of your actual robot / URSim
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ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
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```

‎ur_moveit_config/launch/ur_moveit.launch.py

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@@ -73,8 +73,10 @@ def declare_arguments():
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"ur3e",
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"ur5",
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"ur5e",
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"ur7e",
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"ur10",
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"ur10e",
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"ur12e",
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"ur16e",
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"ur20",
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"ur30",

‎ur_robot_driver/doc/usage/startup.rst

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@@ -22,8 +22,8 @@ nodes for UR robots. The only required arguments are the ``ur_type`` and ``robot
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$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
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Allowed ``ur_type`` strings: ``ur3``, ``ur3e``, ``ur5``, ``ur5e``, ``ur10``, ``ur10e``, ``ur16e``,
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``ur20``, ``ur30``.
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Allowed ``ur_type`` strings: ``ur3``, ``ur3e``, ``ur5``, ``ur5e``, ``ur7e``, ``ur10``, ``ur10e``,
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``ur12e``, ``ur16e``, ``ur20``, ``ur30``.
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Other important arguments are:
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‎ur_robot_driver/launch/ur12e.launch.py

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@@ -0,0 +1,101 @@
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# Copyright (c) 2025 Universal Robots A/S
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#
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# Redistribution and use in source and binary forms, with or without
4+
# modification, are permitted provided that the following conditions are met:
5+
#
6+
# * Redistributions of source code must retain the above copyright
7+
# notice, this list of conditions and the following disclaimer.
8+
#
9+
# * Redistributions in binary form must reproduce the above copyright
10+
# notice, this list of conditions and the following disclaimer in the
11+
# documentation and/or other materials provided with the distribution.
12+
#
13+
# * Neither the name of the {copyright_holder} nor the names of its
14+
# contributors may be used to endorse or promote products derived from
15+
# this software without specific prior written permission.
16+
#
17+
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18+
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19+
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21+
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23+
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24+
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27+
# POSSIBILITY OF SUCH DAMAGE.
28+
29+
from launch import LaunchDescription
30+
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
32+
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
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34+
35+
def generate_launch_description():
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# Declare arguments
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declared_arguments = []
38+
declared_arguments.append(
39+
DeclareLaunchArgument(
40+
"robot_ip",
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description="IP address by which the robot can be reached.",
42+
)
43+
)
44+
declared_arguments.append(
45+
DeclareLaunchArgument(
46+
"use_mock_hardware",
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default_value="false",
48+
description="Start robot with mock hardware mirroring command to its states.",
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)
50+
)
51+
declared_arguments.append(
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DeclareLaunchArgument(
53+
"mock_sensor_commands",
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default_value="false",
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description="Enable mock command interfaces for sensors used for simple simulations. "
56+
"Used only if 'use_mock_hardware' parameter is true.",
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)
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)
59+
declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="scaled_joint_trajectory_controller",
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description="Initially loaded robot controller.",
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choices=[
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"scaled_joint_trajectory_controller",
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"joint_trajectory_controller",
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"forward_velocity_controller",
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"forward_position_controller",
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"freedrive_mode_controller",
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"passthrough_trajectory_controller",
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],
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)
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)
74+
declared_arguments.append(
75+
DeclareLaunchArgument(
76+
"activate_joint_controller",
77+
default_value="true",
78+
description="Activate loaded joint controller.",
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)
80+
)
81+
82+
# Initialize Arguments
83+
robot_ip = LaunchConfiguration("robot_ip")
84+
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
85+
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
86+
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
87+
activate_joint_controller = LaunchConfiguration("activate_joint_controller")
88+
89+
base_launch = IncludeLaunchDescription(
90+
PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
91+
launch_arguments={
92+
"ur_type": "ur12e",
93+
"robot_ip": robot_ip,
94+
"use_mock_hardware": use_mock_hardware,
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"mock_sensor_commands": mock_sensor_commands,
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"initial_joint_controller": initial_joint_controller,
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"activate_joint_controller": activate_joint_controller,
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}.items(),
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)
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return LaunchDescription(declared_arguments + [base_launch])

‎ur_robot_driver/launch/ur7e.launch.py

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,101 @@
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# Copyright (c) 2025 Universal Robots A/S
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#
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# Redistribution and use in source and binary forms, with or without
4+
# modification, are permitted provided that the following conditions are met:
5+
#
6+
# * Redistributions of source code must retain the above copyright
7+
# notice, this list of conditions and the following disclaimer.
8+
#
9+
# * Redistributions in binary form must reproduce the above copyright
10+
# notice, this list of conditions and the following disclaimer in the
11+
# documentation and/or other materials provided with the distribution.
12+
#
13+
# * Neither the name of the {copyright_holder} nor the names of its
14+
# contributors may be used to endorse or promote products derived from
15+
# this software without specific prior written permission.
16+
#
17+
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18+
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19+
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21+
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23+
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24+
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27+
# POSSIBILITY OF SUCH DAMAGE.
28+
29+
from launch import LaunchDescription
30+
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
31+
from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
33+
34+
35+
def generate_launch_description():
36+
# Declare arguments
37+
declared_arguments = []
38+
declared_arguments.append(
39+
DeclareLaunchArgument(
40+
"robot_ip",
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description="IP address by which the robot can be reached.",
42+
)
43+
)
44+
declared_arguments.append(
45+
DeclareLaunchArgument(
46+
"use_mock_hardware",
47+
default_value="false",
48+
description="Start robot with mock hardware mirroring command to its states.",
49+
)
50+
)
51+
declared_arguments.append(
52+
DeclareLaunchArgument(
53+
"mock_sensor_commands",
54+
default_value="false",
55+
description="Enable mock command interfaces for sensors used for simple simulations. "
56+
"Used only if 'use_mock_hardware' parameter is true.",
57+
)
58+
)
59+
declared_arguments.append(
60+
DeclareLaunchArgument(
61+
"initial_joint_controller",
62+
default_value="scaled_joint_trajectory_controller",
63+
description="Initially loaded robot controller.",
64+
choices=[
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"scaled_joint_trajectory_controller",
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"joint_trajectory_controller",
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"forward_velocity_controller",
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"forward_position_controller",
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"freedrive_mode_controller",
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"passthrough_trajectory_controller",
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],
72+
)
73+
)
74+
declared_arguments.append(
75+
DeclareLaunchArgument(
76+
"activate_joint_controller",
77+
default_value="true",
78+
description="Activate loaded joint controller.",
79+
)
80+
)
81+
82+
# Initialize Arguments
83+
robot_ip = LaunchConfiguration("robot_ip")
84+
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
85+
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
86+
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
87+
activate_joint_controller = LaunchConfiguration("activate_joint_controller")
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89+
base_launch = IncludeLaunchDescription(
90+
PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
91+
launch_arguments={
92+
"ur_type": "ur7e",
93+
"robot_ip": robot_ip,
94+
"use_mock_hardware": use_mock_hardware,
95+
"mock_sensor_commands": mock_sensor_commands,
96+
"initial_joint_controller": initial_joint_controller,
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"activate_joint_controller": activate_joint_controller,
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}.items(),
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)
100+
101+
return LaunchDescription(declared_arguments + [base_launch])

‎ur_robot_driver/launch/ur_control.launch.py

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@@ -235,8 +235,10 @@ def generate_launch_description():
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"ur3e",
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"ur5",
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"ur5e",
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"ur7e",
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"ur10",
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"ur10e",
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"ur12e",
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"ur16e",
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"ur20",
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"ur30",

‎ur_robot_driver/launch/ur_rsp.launch.py

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@@ -201,8 +201,10 @@ def generate_launch_description():
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"ur3e",
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"ur5",
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"ur5e",
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"ur7e",
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"ur10",
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"ur10e",
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"ur12e",
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"ur16e",
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"ur20",
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"ur30",

‎ur_robot_driver/test/test_common.py

Lines changed: 13 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -291,7 +291,19 @@ def _declare_launch_arguments():
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"ur_type",
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default_value="ur5e",
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description="Type/series of used UR robot.",
294-
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
294+
choices=[
295+
"ur3",
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"ur3e",
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"ur5",
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"ur5e",
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"ur7e",
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"ur10",
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"ur10e",
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"ur12e",
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"ur16e",
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"ur20",
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"ur30",
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],
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)
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)
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‎ur_robot_driver/urdf/ur.urdf.xacro

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@@ -8,7 +8,7 @@
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<xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />
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<xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
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11-
<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
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<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur20 -->
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<!-- the default value should raise an error in case this was called without defining the type -->
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<xacro:arg name="ur_type" default="urXe"/>
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