/UR5_Pybullet_MoveIt

A UR5 robotic arm project, simulated in Pybullet, and implemented communication between Pybullet and ROS MoveIt, and implemented robotic arm planning through MoveIt

Primary LanguagePython

UR5_Pybullet_MoveIt

Introduction

A UR5 robotic arm project, simulated in Pybullet, and implemented communication between Pybullet and ROS MoveIt, and implemented robotic arm planning through MoveIt.

Dependencies

pybullet

pip install pybullet

gin-config

pip install gin-config

python3-empy

sudo apt-get install python3-empy

Build

in the ros workspace, run the following command in the terminal:

catkin build

Setup

Run the following command in the terminal to edit your ~/.bashrc

gedit ~/.bashrc

add the following command at the end of your ~/.bashrc file.

source

where the [the absolute path of your ros workspace] is the the absolute path of your ros workspace. You can get this path by running command pwd in yout terminal open at the folder of the ros workspace.

Run

run the following command in the terminal:

roslaunch ur5_pybullet_ros ur5_pybullet_ros_env.launch

Then you can see the pybullet interface and rviz are launched. You can directly see the TFframes in the rviz windows. You can also see all the TFframes by running rosrun rqt_tf_tree rqt_tf_tree in your terminal.