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UR-ROS-Setup-Documantation.md

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initial Situation

  • older UR Polyscope Software which is currently out of support
  • ROS setup with ROS-foxy
  • ROS interface for neobotix-coordinator (behavior-tree with ottdated iras-interfaces & petra-interfaces packages) - also in ROS-foxy

What has been done so far:

  • update UR Polyscope on the teachpad to version XXXXXXXXXXXXXXXXXXXXXXXXXXXX
  • setup of a completely new docker container to run ROS-humble (ur5-driver-humble) --> Dockerfile , build.sh and start.sh
    • install ur packages with apt inside the dockerfile
  • implementation of the common iras python interface (as known from the r2e cells)
    • required depenend packages copied into the docker/ws_dependencies --> moveit_wrapper, ros_enviroment, py_dependencies with additional reference classes for affine-transform calculations
    • extend Dockerfile to build and source the dependencies proper
    • write new launchfile in moveit_wrapper package to launch moveit-nodes and the wrapper-node (providing new service servers) --> only the minimum of required parameters is implemented as launch arguments (for simplicity reasons)
  • setup of the robot_application package to run the python applications --> docker/ros2_ws/src/robot_application is mounted to the host machine!
    • own python scripts can be edited local on the host machine in ur-driver-humble/src/robot_application/programs

Usage:

  1. start the docker container (ur.driver.humble) with ./start.sh
  2. build the ros2_ws (in specific the robot_application package) with colcon build
  3. source the ros2_ws with source install/setup.bash (note: the dependencies are built and sourced automatically while building the container)
  4. start the drivers: ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=192.168.1.103 launch_rviz:=false
  5. start the remote control (program = "external_control") on the UR teachpanel and put the speed-slider bar to 100% because the trajectory execution in ros is calculated on this base and speed reduction isnt possible
  6. connect anonther terminal to the container: docker exec -it ur-driver-humble bash and source it
  7. launch moveit and the wrapper: ros2 launch moveit_wrapper wrapper_complete.launch.py ur_type:=ur5 (note: launch_rviz:=true by default)
  8. connect another terminal to the container --> 5)
  9. run the python script you have written your application in: ros2 run robot_application <program-name>

--> for more informations on how to write python applications please refer here: application-tutorial for diy-robotics

ToDo:

  • modify robot_description URDF with neobotix, camera-mount, camera and gripper --> self-collision checking, URDF package is implemented as launch argument!
  • maybe also modify the SRDF file?