ROS作为通用的机器人操作平台，版本已经更迭了很多。从最初的electric, fuerte, groovy, hydro到现在常用的indigo和jade,最新版本已经更新到了kinetic.
目前支持UR的资料大多作用于indigo平台，今天通过整合谷歌开发社区上的一些资料，成功地在Ubuntu 16.04和ROS Kinetic上实现了UR3 Robot的控制和使用。
基础的资料包还是universal_robot-kinetic-devel和ur_modern_driver，然后ur_modern_driver中的一个ur_hardware_interface.cpp文件需要修改，下面就是这个文件的所有源代码，使用的时候只需用这个文件替换原来的即可。
如果你原来在indigo上运行没问题，那么替换代码之后应该在kinetic上运行也没问题。当然喽，记得重新下载universal_robot-kinetic-devel，而不是使用原来的universal_robot-indigo-devel。
ur_hardware_interface.cpp源代码：
/*
* ur_hardware_control_loop.cpp
*
* Copyright 2015 Thomas Timm Andersen
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/* Based on original source from University of Colorado, Boulder. License copied below. */
/*********************************************************************
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* Copyright (c) 2015, University of Colorado, Boulder
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Author: Dave Coleman
*/
#include <ur_modern_driver/ur_hardware_interface.h>
namespace ros_control_ur {
UrHardwareInterface::UrHardwareInterface(ros::NodeHandle& nh, UrDriver* robot) :
nh_(nh), robot_(robot) {
// Initialize shared memory and interfaces here
init(); // this implementation loads from rosparam
max_vel_change_ = 0.12; // equivalent of an acceleration of 15 rad/sec^2
ROS_INFO_NAMED("ur_hardware_interface", "Loaded ur_hardware_interface.");
}
void UrHardwareInterface::init() {
ROS_INFO_STREAM_NAMED("ur_hardware_interface",
"Reading rosparams from namespace: " << nh_.getNamespace());
// Get joint names
nh_.getParam("hardware_interface/joints", joint_names_);
if (joint_names_.size() == 0) {
ROS_FATAL_STREAM_NAMED("ur_hardware_interface",
"No joints found on parameter server for controller, did you load the proper yaml file?" << " Namespace: " << nh_.getNamespace());
exit(-1);
}
num_joints_ = joint_names_.size();