Universal_Robots_CB2_ROS2_Driver

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Universal_Robots_CB2_ROS2_Driver

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Universal Robots ROS2 Driver for CB2 Controller

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# Universal_Robots_CB2_ROS2_Driver

## You can use this driver with the official [Universal_Robots_ROS2_Description](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description), which you can install with the following command:

```bash
sudo apt-get install ros-<distro>-ur-description
```

However, you need to modify the URDF files within the package:

```
colcon_cd ur_description

# go to the directory
urdf
├── ur_macro.xacro
├── ur.ros2_control.xacro
└── ur.urdf.xacro

```
### Modify `ur.ros2_control.xacro`

Change the plugin name from `ur_robot_driver` to `ur_robot_driver_cb2` as the following line:

```xml
<plugin>ur_robot_driver_cb2/URPositionHardwareInterface</plugin>
```

### launch file

Now you can launch the driver using the provided launch file.

## Cartesian Motion Control

Clone the [cartesian_controllers](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers) (ros2) package into your src folder and build it in release mode for faster performance. (you may skip the simulation and tests)

```bash
colcon build --packages-skip cartesian_controller_simulation cartesian_controller_tests --cmake-args -DCMAKE_BUILD_TYPE=Release
```

You need to uncomment the `cartesian_motion_controller_spawner` and the `motion_control_handle_spawner` under `nodes_to_start` in the [ur_control.launch.py](ur_robot_driver_cb2/launch/ur_control.launch.py) file.

To switch to Cartesian motion control, you need to deactivate the `forward_position_controller` as that is the default initial_joint_controller. Then activate the `cartesian_motion_controller` and the `motion_control_handle`.

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