Universal_Robots_CB2_ROS2_Driver

You can use this driver with the official Universal_Robots_ROS2_Description, which you can install with the following command:

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:

<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 (ros2) package into your src folder and build it in release mode for faster performance. (you may skip the simulation and tests)

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 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.