Add support for UR7e and UR12e

README.md

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

ur_moveit_config/launch/ur_moveit.launch.py

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

ur_robot_driver/doc/usage/startup.rst

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

ur_robot_driver/launch/ur12e.launch.py

@@ -0,0 +1,101 @@
+# Copyright (c) 2025 Universal Robots A/S
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+
+
+def generate_launch_description():
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_ip",
+            description="IP address by which the robot can be reached.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_mock_hardware",
+            default_value="false",
+            description="Start robot with mock hardware mirroring command to its states.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "mock_sensor_commands",
+            default_value="false",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "initial_joint_controller",
+            default_value="scaled_joint_trajectory_controller",
+            description="Initially loaded robot controller.",
+            choices=[
+                "scaled_joint_trajectory_controller",
+                "joint_trajectory_controller",
+                "forward_velocity_controller",
+                "forward_position_controller",
+                "freedrive_mode_controller",
+                "passthrough_trajectory_controller",
+            ],
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "activate_joint_controller",
+            default_value="true",
+            description="Activate loaded joint controller.",
+        )
+    )
+
+    # Initialize Arguments
+    robot_ip = LaunchConfiguration("robot_ip")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
+    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
+    activate_joint_controller = LaunchConfiguration("activate_joint_controller")
+
+    base_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
+        launch_arguments={
+            "ur_type": "ur12e",
+            "robot_ip": robot_ip,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
+            "initial_joint_controller": initial_joint_controller,
+            "activate_joint_controller": activate_joint_controller,
+        }.items(),
+    )
+
+    return LaunchDescription(declared_arguments + [base_launch])

ur_robot_driver/launch/ur7e.launch.py

@@ -0,0 +1,101 @@
+# Copyright (c) 2025 Universal Robots A/S
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+
+
+def generate_launch_description():
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_ip",
+            description="IP address by which the robot can be reached.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_mock_hardware",
+            default_value="false",
+            description="Start robot with mock hardware mirroring command to its states.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "mock_sensor_commands",
+            default_value="false",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "initial_joint_controller",
+            default_value="scaled_joint_trajectory_controller",
+            description="Initially loaded robot controller.",
+            choices=[
+                "scaled_joint_trajectory_controller",
+                "joint_trajectory_controller",
+                "forward_velocity_controller",
+                "forward_position_controller",
+                "freedrive_mode_controller",
+                "passthrough_trajectory_controller",
+            ],
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "activate_joint_controller",
+            default_value="true",
+            description="Activate loaded joint controller.",
+        )
+    )
+
+    # Initialize Arguments
+    robot_ip = LaunchConfiguration("robot_ip")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
+    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
+    activate_joint_controller = LaunchConfiguration("activate_joint_controller")
+
+    base_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
+        launch_arguments={
+            "ur_type": "ur7e",
+            "robot_ip": robot_ip,
+            "use_mock_hardware": use_mock_hardware,
+            "mock_sensor_commands": mock_sensor_commands,
+            "initial_joint_controller": initial_joint_controller,
+            "activate_joint_controller": activate_joint_controller,
+        }.items(),
+    )
+
+    return LaunchDescription(declared_arguments + [base_launch])

ur_robot_driver/launch/ur_control.launch.py

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

ur_robot_driver/launch/ur_rsp.launch.py

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

ur_robot_driver/test/test_common.py

@@ -291,7 +291,19 @@ def _declare_launch_arguments():
             "ur_type",
             default_value="ur5e",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
+            choices=[
+                "ur3",
+                "ur3e",
+                "ur5",
+                "ur5e",
+                "ur7e",
+                "ur10",
+                "ur10e",
+                "ur12e",
+                "ur16e",
+                "ur20",
+                "ur30",
+            ],
         )
     )
 

ur_robot_driver/urdf/ur.urdf.xacro

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