- Universal Robots Client Library
A C++ library for accessing Universal Robots interfaces. With this library C++-based drivers can be implemented in order to create external applications leveraging the versatility of Universal Robots robotic manipulators.
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The library requires an implementation of POSIX threads such as the
pthreadlibrary -
Socket communication is currently based on Linux sockets. Thus, this library will require Linux for building and using.
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The master branch of this repository requires a C++17-compatible compiler. For building this library without a C++17-requirement, please use the boost branch instead that requires the boost library. For the C++17 features, please use those minimum compiler versions:
Compiler min. version GCC 7 Clang 7
To build this library standalone so that you can build you own applications using this library, follow the usual cmake procedure:
cd <clone of this repository>
mkdir build && cd build
cmake ..
make
sudo make installThis will install the library into your system so that it can be used by other cmake projects directly.
If you want to build this library inside a ROS workspace, e.g. because you want to build the
Universal Robots ROS driver from
source, you cannot use catkin_make directly, as this library is not a catkin package. Instead, you
will have to use
catkin_make_isolated or catkin
build to build your
workspace.
When you want to use this library in other cmake projects, make sure to
- Add
find_package(ur_client_library REQUIRED)to yourCMakeLists.txt - add
ur_client_library::urclto the list oftarget_link_libraries(...)commands inside your CMakeLists.txt file
As a minimal example, take the following "project":
/*main.cpp*/
#include <iostream>
#include <ur_client_library/ur/dashboard_client.h>
int main(int argc, char* argv[])
{
urcl::DashboardClient my_client("192.168.56.101");
bool connected = my_client.connect();
if (connected)
{
std::string answer = my_client.sendAndReceive("PolyscopeVersion\n");
std::cout << answer << std::endl;
my_client.disconnect();
}
return 0;
}
# CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(minimal_example)
find_package(ur_client_library REQUIRED)
add_executable(db_client main.cpp)
target_link_libraries(db_client ur_client_library::urcl)The majority of this library is licensed under the Apache-2.0 licensed. However, certain parts are licensed under different licenses:
- The queue used inside the communication structures is originally written by Cameron Desrochers and is released under the BSD-2-Clause license.
- The semaphore implementation used inside the queue implementation is written by Jeff Preshing and licensed under the zlib license
- The Dockerfile used for the integration tests of this repository is originally written by Arran Hobson Sayers and released under the MIT license
While the main LICENSE file in this repository contains the Apache-2.0 license used for the
majority of the work, the respective libraries of third-party components reside together with the
code imported from those third parties.
Currently, this library contains the following components:
- Basic primary interface: The primary interface isn't fully implemented at the current state and provides only basic functionality. See A word on the primary / secondary interface for further information about the primary interface.
- RTDE interface: The RTDE interface is fully supported by this library. See RTDEClient for further information on how to use this library as an RTDE client.
- Dashboard interface: The Dashboard server can be accessed directly from C++ through helper functions using this library.
- Custom motion streaming: This library was initially developed as part of the Universal Robots ROS driver. Therefore, it also contains a mechanism to do data streaming through a custom socket, e.g. to perform motion command streaming.
In the examples subfolder you will find a minimal example of a running driver. It starts an
instance of the UrDriver class and prints the RTDE values read from the controller. To run it make
sure to
- have an instance of a robot controller / URSim running at the configured IP address (or adapt the address to your needs)
- run it from the package's main folder (the one where this README.md file is stored), as for simplicity reasons it doesn't use any sophisticated method to locate the required files.
The image below shows a rough architecture overview that should help developers to use the different modules present in this library. Note that this is an incomplete view on the classes involved.
The core of this library is the UrDriver class which creates a
fully functioning robot interface. For details on how to use it, please see the Example
driver section.
The UrDriver's modules will be explained in the following.
The RTDEClient class serves as a standalone
RTDE
client. To use the RTDE-Client, you'll have to initialize and start it separately:
rtde_interface::RTDEClient my_client(ROBOT_IP, notifier, OUTPUT_RECIPE, INPUT_RECIPE);
my_client.init();
my_client.start();
while (true)
{
std::unique_ptr<rtde_interface::DataPackage> data_pkg = my_client.getDataPackage(READ_TIMEOUT);
if (data_pkg)
{
std::cout << data_pkg->toString() << std::endl;
}
}Upon construction, two recipe files have to be given, one for the RTDE inputs, one for the RTDE outputs. Please refer to the RTDE guide on which elements are available.
Inside the RTDEclient data is received in a separate thread, parsed by the RTDEParser and added
to a pipeline queue.
Right after calling my_client.start(), it should be made sure to read the buffer from the
RTDEClient by calling getDataPackage() frequently. The Client's queue can only contain 1 item
at a time, so a Pipeline producer overflowed! error will be raised if the buffer isn't read before
the next package arrives.
For writing data to the RTDE interface, use the RTDEWriter member of the RTDEClient. It can be
retrieved by calling getWriter() method. The RTDEWriter provides convenience methods to write
all data available at the RTDE interface. Make sure that the required keys are configured inside the
input recipe, as otherwise the send-methods will return false if the data field is not setup in
the recipe.
An example of a standalone RTDE-client can be found in the examples subfolder. To run it make
sure to
- have an instance of a robot controller / URSim running at the configured IP address (or adapt the address to your needs)
- run it from the package's main folder (the one where this README.md file is stored), as for simplicity reasons it doesn't use any sophisticated method to locate the required files.
The RTDEWriter class provides an interface to write data to the RTDE interface. Data fields that
should be written have to be defined inside the INPUT_RECIPE as noted above.
The class offers specific methods for every RTDE input possible to write.
Data is sent asynchronously to the RTDE interface.
The ReverseInterface opens a TCP port on which a custom protocol is implemented between the
robot and the control PC. The port can be specified in the class constructor.
It's basic functionality is to send a vector of floating point data together with a mode. It is
meant to send joint positions or velocities together with a mode that tells the robot how to
interpret those values (e.g. SERVOJ, SPEEDJ). Therefore, this interface can be used to do motion
command streaming to the robot.
In order to use this class in an application together with a robot, make sure that a corresponding URScript is running on the robot that can interpret the commands sent. See this example script for reference.
Also see the ScriptSender for a way to define the corresponding URScript on the control PC and sending it to the robot upon request.
The ScriptSender class opens a tcp socket on the remote PC whose single purpose it is to answer
with a URScript code snippet on a "request_program" request. The script code itself has to be
given to the class constructor.
Use this class in conjunction with the External Control URCap which will make the corresponding request when starting a program on the robot that contains the External Control program node. In order to work properly, make sure that the IP address and script sender port are configured correctly on the robot.
This section shall explain the public interface functions that haven't been covered above
This function opens a connection to the primary interface where it will receive a calibration information as the first message. The checksum from this calibration info is compared to the one given to this function. Connection to the primary interface is dropped afterwards.
This function sends given URScript code directly to the secondary interface. The
sendRobotProgram() function is a special case that will send the script code given in the
RTDEClient constructor.
The DashboardClient wraps the calls on the Dashboard server directly into C++ functions.
After connecting to the dashboard server by using the connect() function, dashboard calls can be
sent using the sendAndReceive() function. Answers from the dashboard server will be returned as
string from this function. If no answer is received, a UrException is thrown.
Note: In order to make this more useful developers are expected to wrap this bare interface into something that checks the returned string for something that is expected. See the DashboardClientROS as an example.
Currently, this library doesn't support the primary interface very well, as the Universal Robots
ROS driver was built mainly upon
the RTDE interface. Therefore, there is also no PrimaryClient for directly accessing the primary
interface. This may change in future, though.
The comm::URStream class can be used to open a connection to the primary / secondary interface and
send data to it. The producer/consumer pipeline structure can also be used
together with the primary / secondary interface. However, package parsing isn't implemented for most
packages currently. See the primary_pipeline example on details
how to set this up. Note that when running this example, most packages will just be printed as their
raw byte streams in a hex notation, as they aren't implemented in the library, yet.
As mentioned above, for a clean operation it is quite critical that arriving RTDE messages are read
before the next message arrives. Due to this, both, the RTDE receive thread and the thread calling
getDataPackage() should be scheduled with real-time priority. See this guide
for details on how to set this up.
The RTDE receive thread will be scheduled to real-time priority automatically, if applicable. If
this doesn't work, an error is raised at startup. The main thread calling getDataPackage should be
scheduled to real-time priority by the application. See the
ur_robot_driver
as an example.
Communication with the primary / secondary and RTDE interfaces is designed to use a
consumer/producer pattern. The Producer reads data from the socket whenever it comes in, parses the
contents and stores the parsed packages into a pipeline queue.
You can write your own consumers that use the packages coming from the producer. See the
comm::ShellConsumer as an example.
As this library was originally designed to be included into a ROS driver but also to be used as a
standalone library, it uses custom logging macros instead of direct printf or std::cout
statements.
The macro based interface is by default using the DefaultLogHandler
to print the logging messages as printf statements. It is possible to define your own log handler
to change the behavior, see create new log handler on how to.
Make sure to set the logging level in your application, as by default only messages of level WARNING or higher will be printed. See below for an example:
#include "ur_client_library/log.h"
int main(int argc, char* argv[])
{
urcl::setLogLevel(urcl::LogLevel::DEBUG);
URCL_LOG_DEBUG("Logging debug message");
return 0;
}The logger comes with an interface LogHandler, which can be
used to implement your own log handler for messages logged with this library. This can be done by
inheriting from the LogHandler class.
If you want to create a new log handler in your application, you can use below example as inspiration:
#include "ur_client_library/log.h"
#include <iostream>
class MyLogHandler : public urcl::LogHandler
{
public:
MyLogHandler() = default;
void log(const char* file, int line, urcl::LogLevel loglevel, const char* log) override
{
switch (loglevel)
{
case urcl::LogLevel::INFO:
std::cout << "INFO " << file << " " << line << ": " << log << std::endl;
break;
case urcl::LogLevel::DEBUG:
std::cout << "DEBUG " << file << " " << line << ": " << log << std::endl;
break;
case urcl::LogLevel::WARN:
std::cout << "WARN " << file << " " << line << ": " << log << std::endl;
break;
case urcl::LogLevel::ERROR:
std::cout << "ERROR " << file << " " << line << ": " << log << std::endl;
break;
case urcl::LogLevel::FATAL:
std::cout << "ERROR " << file << " " << line << ": " << log << std::endl;
break;
default:
break;
}
}
};
int main(int argc, char* argv[])
{
urcl::setLogLevel(urcl::LogLevel::DEBUG);
std::unique_ptr<MyLogHandler> log_handler(new MyLogHandler);
urcl::registerLogHandler(std::move(log_handler));
URCL_LOG_DEBUG("logging debug message");
URCL_LOG_INFO("logging info message");
return 0;
}If console_bridge is found on the system during the
cmake run, logging commands will be done by console_bridge. In this case, the define ROS_BUILD
will be set. When built inside a catkin workspace, logging commands are automatically translated
into ROS logging commands.
If you compile this library against console_bridge, make sure to set the logging level in your
application, as by default console_bridge will only print messages of level WARNING or higher.
See examples/primary_pipeline.cpp as an example.
The ROS logger will be moved to the ROS driver in a future release.