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Add twist controller
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‎ur_controllers/CMakeLists.txt‎

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@@ -87,6 +87,11 @@ generate_parameter_library(
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src/passthrough_trajectory_controller_parameters.yaml
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)
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generate_parameter_library(
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twist_controller_parameters
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src/twist_controller_parameters.yaml
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)
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generate_parameter_library(
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ur_configuration_controller_parameters
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src/ur_configuration_controller_parameters.yaml
@@ -100,6 +105,7 @@ add_library(${PROJECT_NAME} SHARED
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src/freedrive_mode_controller.cpp
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src/gpio_controller.cpp
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src/passthrough_trajectory_controller.cpp
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src/twist_controller.cpp
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src/ur_configuration_controller.cpp)
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target_include_directories(${PROJECT_NAME} PRIVATE
@@ -114,6 +120,7 @@ target_link_libraries(${PROJECT_NAME}
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freedrive_mode_controller_parameters
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passthrough_trajectory_controller_parameters
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ur_configuration_controller_parameters
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twist_controller_parameters
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${geometry_msgs_TARGETS}
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${lifecycle_msgs_TARGETS}
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${std_msgs_TARGETS}

‎ur_controllers/controller_plugins.xml‎

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Controller to use the tool contact functionality of the robot.
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</description>
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</class>
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<class name="ur_controllers/TwistController" type="ur_controllers::TwistController" base_class_type="controller_interface::ControllerInterface">
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<description>
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Controller to move a manipulator's TCP using Cartesian velocities.
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</description>
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</class>
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</library>

‎ur_controllers/include/ur_controllers/twist_controller.hpp‎

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// Copyright 2025, Universal Robots A/S
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the {copyright_holder} nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#ifndef UR_CONTROLLERS__TWIST_CONTROLLER_HPP_
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#define UR_CONTROLLERS__TWIST_CONTROLLER_HPP_
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#include <memory>
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#include <controller_interface/controller_interface.hpp>
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#include <realtime_tools/realtime_thread_safe_box.hpp>
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#include <geometry_msgs/msg/twist_stamped.hpp>
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#include "ur_controllers/twist_controller_parameters.hpp"
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namespace ur_controllers
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{
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class TwistController : public controller_interface::ControllerInterface
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{
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public:
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;
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CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
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CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
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CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
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CallbackReturn on_init() override;
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private:
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void reset();
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using TwistStamped = geometry_msgs::msg::TwistStamped;
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bool subscriber_is_active_ = false;
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rclcpp::Subscription<TwistStamped>::SharedPtr twist_command_subscriber_ = nullptr;
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realtime_tools::RealtimeThreadSafeBox<TwistStamped> received_twist_msg_;
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TwistStamped command_msg_;
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std::shared_ptr<twist_controller::ParamListener> param_listener_;
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twist_controller::Params controller_params_;
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};
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} // namespace ur_controllers
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#endif // UR_CONTROLLERS__TWIST_CONTROLLER_HPP_

‎ur_controllers/src/twist_controller.cpp‎

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// Copyright 2025, Universal Robots A/S
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the {copyright_holder} nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include <ur_controllers/twist_controller.hpp>
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namespace ur_controllers
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{
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controller_interface::CallbackReturn TwistController::on_init()
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{
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param_listener_ = std::make_shared<twist_controller::ParamListener>(get_node());
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controller_params_ = param_listener_->get_params();
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return controller_interface::CallbackReturn::SUCCESS;
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}
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controller_interface::CallbackReturn TwistController::on_configure(const rclcpp_lifecycle::State& /* previous_state */)
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{
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twist_command_subscriber_ = get_node()->create_subscription<TwistStamped>(
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"~/twist", rclcpp::SystemDefaultsQoS(), [this](const std::shared_ptr<TwistStamped> msg) -> void {
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if (!subscriber_is_active_) {
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RCLCPP_WARN(get_node()->get_logger(), "Can't accept new commands. subscriber is inactive");
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return;
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}
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if ((msg->header.stamp.sec == 0) && (msg->header.stamp.nanosec == 0)) {
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RCLCPP_WARN_ONCE(get_node()->get_logger(), "Received TwistStamped with zero timestamp, setting it to current "
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"time, this message will only be shown once");
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msg->header.stamp = get_node()->now();
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}
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if (msg->header.frame_id != controller_params_.tf_prefix + "base") {
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// TODO(urfeex): Support transforming the twist?
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RCLCPP_WARN(get_node()->get_logger(),
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"Received TwistStamped with frame_id '%s'. Currently, it is only supported to command twists in "
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"'%s'. The command will be ignored.",
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msg->header.frame_id.c_str(), (controller_params_.tf_prefix + "base").c_str());
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return;
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}
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// TODO(urfeex): Check timestamp. Do not accept old commands.
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received_twist_msg_.set(*msg);
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});
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return controller_interface::CallbackReturn::SUCCESS;
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}
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controller_interface::InterfaceConfiguration TwistController::command_interface_configuration() const
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{
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// No command interfaces currently
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controller_interface::InterfaceConfiguration config;
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config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
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const std::string tf_prefix = controller_params_.tf_prefix;
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config.names.push_back(tf_prefix + "twist/linear_velocity_x");
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config.names.push_back(tf_prefix + "twist/linear_velocity_y");
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config.names.push_back(tf_prefix + "twist/linear_velocity_z");
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config.names.push_back(tf_prefix + "twist/angular_velocity_x");
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config.names.push_back(tf_prefix + "twist/angular_velocity_y");
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config.names.push_back(tf_prefix + "twist/angular_velocity_z");
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return config;
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}
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controller_interface::InterfaceConfiguration TwistController::state_interface_configuration() const
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{
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// TODO(urfeex): Add state interfaces for tcp speed
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controller_interface::InterfaceConfiguration config;
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config.type = controller_interface::interface_configuration_type::NONE;
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return config;
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}
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controller_interface::CallbackReturn TwistController::on_activate(const rclcpp_lifecycle::State& state)
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{
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reset();
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subscriber_is_active_ = true;
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return ControllerInterface::on_activate(state);
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}
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controller_interface::CallbackReturn TwistController::on_deactivate(const rclcpp_lifecycle::State&)
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{
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subscriber_is_active_ = false;
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reset();
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return CallbackReturn::SUCCESS;
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}
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controller_interface::return_type TwistController::update(const rclcpp::Time& /*time*/,
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const rclcpp::Duration& /*period*/)
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{
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// In case we can't read from the subscriber's buffer, we will not update the command_msg_.
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auto current_cmd = received_twist_msg_.try_get();
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if (current_cmd.has_value()) {
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command_msg_ = current_cmd.value();
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}
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// TODO(urfeex): Check if the command_msg_ is valid, e.g., if the timestamp is not too old.
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bool success = true;
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success &= command_interfaces_[0].set_value(command_msg_.twist.linear.x);
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success &= command_interfaces_[1].set_value(command_msg_.twist.linear.y);
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success &= command_interfaces_[2].set_value(command_msg_.twist.linear.z);
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success &= command_interfaces_[3].set_value(command_msg_.twist.angular.x);
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success &= command_interfaces_[4].set_value(command_msg_.twist.angular.y);
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success &= command_interfaces_[5].set_value(command_msg_.twist.angular.z);
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if (!success) {
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RCLCPP_ERROR(get_node()->get_logger(), "Failed to write to command interfaces.");
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return controller_interface::return_type::ERROR;
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}
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return controller_interface::return_type::OK;
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}
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void TwistController::reset()
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{
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command_msg_.twist.linear.x = 0.0;
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command_msg_.twist.linear.y = 0.0;
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command_msg_.twist.linear.z = 0.0;
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command_msg_.twist.angular.x = 0.0;
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command_msg_.twist.angular.y = 0.0;
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command_msg_.twist.angular.z = 0.0;
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received_twist_msg_.set(command_msg_);
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}
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} // namespace ur_controllers
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#include "pluginlib/class_list_macros.hpp"
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PLUGINLIB_EXPORT_CLASS(ur_controllers::TwistController, controller_interface::ControllerInterface)

‎ur_controllers/src/twist_controller_parameters.yaml‎

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---
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twist_controller:
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tf_prefix: {
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type: string,
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default_value: "",
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description: "Urdf prefix of the corresponding arm"
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}

‎ur_robot_driver/config/ur_controllers.yaml‎

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tool_contact_controller:
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type: ur_controllers/ToolContactController
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twist_controller:
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type: ur_controllers/TwistController
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# The way this is currently implemented upstream doesn't really work for us. When using
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# position control, the robot will have a tracking error. However, limits will be enforced
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# from the currently reported position, effectively limiting the possible step size using the
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ros__parameters:
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tf_prefix: "$(var tf_prefix)"
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twist_controller:
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ros__parameters:
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tf_prefix: "$(var tf_prefix)"
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force_torque_sensor_broadcaster:
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ros__parameters:
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sensor_name: $(var tf_prefix)tcp_fts_sensor

‎ur_robot_driver/launch/ur_control.launch.py‎

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"freedrive_mode_controller",
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"tool_contact_controller",
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"motion_primitive_forward_controller",
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"twist_controller",
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]
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if activate_joint_controller.perform(context) == "true":
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controllers_active.append(initial_joint_controller.perform(context))

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