ur_ros2

Universal Robots ROS 2 interface implementations.

This module defines Universal Robots ROS 2-backed robot wrappers used by RobotBlockSet robot interfaces. It provides communication plumbing, controller integration, state feedback handling, and motion-execution helpers for multiple robot platforms.

class robotblockset.ros2.ur_ros2.ur_ros2(name: str = 'ur10', namespace: str = '', control_strategy: str = 'JointPositionTrajectory')[source]

Bases: robot_ros2

Generic Universal Robots ROS 2 interface.

Attributes:

  • robot_mode (RobotMode | None) – Last robot-mode message received from the dashboard interface.

  • safety_mode (SafetyMode | None) – Last safety-mode message received from the dashboard interface.

Initialize a ROS 2 Universal Robots interface.

Parameters:

  • name (str, optional) – Name of the robot node.

  • namespace (str, optional) – Namespace for the robot topics, services, and actions.

  • control_strategy (str, optional) – Initial RobotBlockSet control strategy.

Notes

The constructor configures the joint-trajectory controller interface, subscribes to wrench, robot-mode, and safety-mode topics, starts the ROS 2 executor thread, and initializes the robot state.

__init__(name: str = 'ur10', namespace: str = '', control_strategy: str = 'JointPositionTrajectory') → None[source]

Initialize a ROS 2 Universal Robots interface.

Parameters:

  • name (str, optional) – Name of the robot node.

  • namespace (str, optional) – Namespace for the robot topics, services, and actions.

  • control_strategy (str, optional) – Initial RobotBlockSet control strategy.

Notes

The constructor configures the joint-trajectory controller interface, subscribes to wrench, robot-mode, and safety-mode topics, starts the ROS 2 executor thread, and initializes the robot state.

isReady() → bool[source]

Check whether the robot is ready for motion.

Returns:

True if the safety mode is NORMAL, otherwise False.

Return type:

bool

Notes

This readiness check reflects the reported safety mode and does not guarantee that the motion controller is active.

inMotion() → bool[source]

Check whether the robot reports running motion.

Returns:

True if the robot-mode state is RUNNING.

Return type:

bool

Check(silent: bool = False) → List[str][source]

Check the robot status and return active issues.

Parameters:

silent (bool, optional) – If True, suppress status messages while checking the robot state.

Returns:

Status strings describing conditions that prevent normal operation.

Return type:

list[str]

Notes

The returned list is empty when the robot is ready and active.

RobotModeStr() → str[source]

Convert the current UR robot-mode code to text.

Returns:

Human-readable description of the robot mode.

Return type:

str

SafetyModeStr() → str[source]

Convert the current UR safety-mode code to text.

Returns:

Human-readable description of the safety mode.

Return type:

str

class robotblockset.ros2.ur_ros2.ur10e(name: str = 'ur10e', namespace: str = '', control_strategy: str = 'JointPositionTrajectory')[source]

Bases: ur_ros2, ur10e_spec

ROS 2 interface for the Universal Robots UR10e platform.

Attributes:

All attributes from :class:`ur_ros2` and :class:`ur10e_spec`.

Initialize the ROS 2 UR10e robot wrapper.

Parameters:

  • name (str, optional) – Name of the robot node.

  • namespace (str, optional) – Namespace for the robot topics, services, and actions.

  • control_strategy (str, optional) – Initial RobotBlockSet control strategy.

__init__(name: str = 'ur10e', namespace: str = '', control_strategy: str = 'JointPositionTrajectory') → None[source]

Initialize the ROS 2 UR10e robot wrapper.

Parameters:

  • name (str, optional) – Name of the robot node.

  • namespace (str, optional) – Namespace for the robot topics, services, and actions.

  • control_strategy (str, optional) – Initial RobotBlockSet control strategy.

class robotblockset.ros2.ur_ros2.ur10(name: str = 'ur10e', namespace: str = '', control_strategy: str = 'JointPositionTrajectory')[source]

Bases: ur_ros2, ur10e_spec

ROS 2 interface for the Universal Robots UR10 platform.

Attributes:

All attributes from :class:`ur_ros2` and the selected robot specification.

Initialize the ROS 2 UR10 robot wrapper.

Parameters:

  • name (str, optional) – Name of the robot node.

  • namespace (str, optional) – Namespace for the robot topics, services, and actions.

  • control_strategy (str, optional) – Initial RobotBlockSet control strategy.

__init__(name: str = 'ur10e', namespace: str = '', control_strategy: str = 'JointPositionTrajectory') → None[source]

Initialize the ROS 2 UR10 robot wrapper.

Parameters:

  • name (str, optional) – Name of the robot node.

  • namespace (str, optional) – Namespace for the robot topics, services, and actions.

  • control_strategy (str, optional) – Initial RobotBlockSet control strategy.

Classes

ur10([name, namespace, control_strategy])

ROS 2 interface for the Universal Robots UR10 platform.

ur10e([name, namespace, control_strategy])

ROS 2 interface for the Universal Robots UR10e platform.

ur_ros2([name, namespace, control_strategy])

Generic Universal Robots ROS 2 interface.