This pacakge is for UR3, UR5 and UR10 manipulator with Moveit! test code.
Move Group Python Interface
And there is no launch files, only contain node files. The source code written by Python 2.7.
It is working on Gazebo simulation and real robot.
Author: Hyeonjun Park, koreaphj91@gmail.com
Affiliation: Human-Robot Interaction LAB, Kyung Hee Unviersity, South Korea
- Before do this, please backup important files.
This software is built on the Robotic Operating System (ROS).
One line install: https://cafe.naver.com/openrt/14575
for Desktop
wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh
- Moveit! pacakge Moveit! ROS depends on following web pages: (Moveit! installation) In my case, the Kinetic version.
rosdep update
sudo apt-get update
sudo apt-get dist-upgrade
sudo apt-get install ros-kinetic-catkin python-catkin-tools
sudo apt install ros-kinetic-moveit
rospack profile && rosstack profile
$ cd ~/catkin_ws/src && git clone https://github.com/MrLacquer/ur3-moveit-test.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile
- Bring up Gazebo and the URx manipulator:
$ roslaunch ur_gazebo ur3.launch
$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true
$ roslaunch ur3_moveit_config moveit_rviz.launch config:=true
- Bring up Real URx manipulator:
$ roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=IP_OF_THE_ROBOT
$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch
- Registration
$ cd ~/catkin_ws/src/ur3-moveit-test/ur3_moveit/script
$ chmod +x ur3_move.py
$ chmod +x ur3_demo.py
- Controlling the URx manipulator:
$ rosrun ur3_moveit ur3_move.py
or
$ rosrun ur3_moveit ur3_demo.py