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Add effort command interface to hardware interface (backport #1411) #1528

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Add effort command interface to hardware interface (backport #1411) #1528

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30287d6
Add effort command interface to hardware interface (#1411)
urfeex Oct 13, 2025
5255ff9
Resolve merge conflicts
urfeex Oct 22, 2025
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14 changes: 14 additions & 0 deletions ur_robot_driver/config/ur_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,9 @@ controller_manager:
forward_velocity_controller:
type: velocity_controllers/JointGroupVelocityController

forward_effort_controller:
type: effort_controllers/JointGroupEffortController

forward_position_controller:
type: position_controllers/JointGroupPositionController

Expand Down Expand Up @@ -154,6 +157,17 @@ forward_velocity_controller:
- $(var tf_prefix)wrist_3_joint
interface_name: velocity

forward_effort_controller:
ros__parameters:
joints:
- $(var tf_prefix)shoulder_pan_joint
- $(var tf_prefix)shoulder_lift_joint
- $(var tf_prefix)elbow_joint
- $(var tf_prefix)wrist_1_joint
- $(var tf_prefix)wrist_2_joint
- $(var tf_prefix)wrist_3_joint
interface_name: effort

forward_position_controller:
ros__parameters:
joints:
Expand Down
4 changes: 4 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
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Expand Up @@ -82,6 +82,7 @@ enum StoppingInterface
STOP_FORCE_MODE,
STOP_FREEDRIVE,
STOP_TOOL_CONTACT,
STOP_TORQUE,
};

// We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
Expand Down Expand Up @@ -177,6 +178,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
urcl::vector6d_t urcl_position_commands_;
urcl::vector6d_t urcl_position_commands_old_;
urcl::vector6d_t urcl_velocity_commands_;
urcl::vector6d_t urcl_torque_commands_;
urcl::vector6d_t urcl_joint_positions_;
urcl::vector6d_t urcl_joint_velocities_;
urcl::vector6d_t urcl_joint_efforts_;
Expand Down Expand Up @@ -229,6 +231,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
bool initialized_;
double system_interface_initialized_;
std::atomic_bool async_thread_shutdown_;
urcl::VersionInformation version_info_;
double get_robot_software_version_major_;
double get_robot_software_version_minor_;
double get_robot_software_version_bugfix_;
Expand Down Expand Up @@ -305,6 +308,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
std::vector<std::vector<std::string>> start_modes_;
bool position_controller_running_;
bool velocity_controller_running_;
bool torque_controller_running_;
bool force_mode_controller_running_ = false;

std::unique_ptr<urcl::UrDriver> ur_driver_;
Expand Down
1 change: 1 addition & 0 deletions ur_robot_driver/launch/ur_control.launch.py
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Expand Up @@ -372,6 +372,7 @@ def controller_spawner(controllers, active=True):
"joint_trajectory_controller",
"forward_velocity_controller",
"forward_position_controller",
"forward_effort_controller",
"force_mode_controller",
"passthrough_trajectory_controller",
"freedrive_mode_controller",
Expand Down
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