UR5 with Vention Rail Description and Moveit Config
ur5e_linear
: URDF description of the robotur5e_linear_moveit_config
: MoveIt! launch and configuration files
First, install ROS. Then:
# create a catkin workspace and clone all required ROS packages
mkdir -p ~/linear_ws/src
cd ~/linear_ws/src/
git clone https://github.com/TomGrimwood/UR5_VentionRail.git
UR5_VentionRail/install-deps.sh
UR5_VentionRail/build.sh
The following examples describe how to use the robot in simulation.
# source the workspace you just built
source ~/linear_ws/devel/setup.bash
# run MoveIt! Demo
roslaunch ur5e_linear_moveit_config demo.launch
Joints are by default given lower weights the further along the kinematic chain, so moving the linear rail is seen as a better option than moving the end effector, to fix this, and give a solution more intuitive, the weights have been manually adjusted at ur5e_linear_moveit_config/config/kinematics.yaml
, which sets the linear axis joint to be much lower, prioritising its movement.