/UR5e_arm_ubuntu18

This page records how to manipulate UR5e in both real and simulated worlds

Basics of UR5e (real robot)

If this is your first time, please check the Wiki page of this repository to learn how to work with the arm

Install ROS (melodic) on Ubuntu 18.04

Detailed instruction can be found at http://wiki.ros.org/melodic/Installation/Ubuntu

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/melodic/setup.bash
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

Set Up Environment on PC

Create a catkin workspace

mkdir -p ~/catkin_ws/src
cd catkin_ws

Add the local environment path

Note, replace '/home/yan/catkin_ws/devel/setup.bash' with your own path

echo "source /home/yan/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install required libraries

sudo apt-get install ros-melodic-moveit && sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers && sudo apt-get install ros-melodic-industrial-msgs && sudo apt-get install ros-melodic-soem
wstool init src https://raw.githubusercontent.com/yding25/UR5e_arm_ubuntu18/master/rosinstall/melodic.rosinstall
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

Compile

catkin_make

Manipulate UR5e in Gazebo using Moveit and Rviz

Open a new terminal, and input

roslaunch ur_gazebo ur5e_bringup.launch

Open a new terminal, and input

roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch sim:=true

Open a new terminal, and input

roslaunch ur5e_moveit_config moveit_rviz.launch rviz_config:=$(rospack find ur5_moveit_config)/launch/moveit.rviz

Now, you can manipulate UR5e arm usuing RVIZ.

Manipulate UR5e in real world

Method 1: execute commands one by one

Open a new terminal, and input

roslaunch ur_robot_driver ur5e_bringup.launch limited:=true robot_ip:=10.32.134.142

Note, replace 10.32.134.142 with your robot ip

On the teaching board, load external_control_yan.urp, and run it. You will see the following information on the previous terminal:

[ INFO] [1615715907.527568874]: Robot requested program
[ INFO] [1615715907.527840385]: Sent program to robot
[ INFO] [1615715907.564855461]: Robot ready to receive control commands.

After the information exists, open a new terminal, and input

roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch limited:=true

Open a new terminal, and input

roslaunch ur5e_moveit_config moveit_rviz.launch rviz_config:=$(rospack find ur5_moveit_config)/launch/moveit.rviz

Now, you can manipulate UR5e arm usuing RVIZ.

Method 2: execute lauch file

roslaunch ur_move_test ur5_move_test.launch

Note, replace 10.32.134.142 with your robot ip in the launch file "/home/yan/catkin_ws/src/ur_move_test/launch/ur5_move_test.launch"

Manipulate UR5e using Python

python /home/yan/catkin_ws/src/ur_move_test/scripts/ur_move_test_node.py

Note, replace '/home/yan/catkin_ws/src/ur_move_test/scripts/' with your own path

Manipulate Gripper (Robotiq Hand-E)

sudo usermod -a -G dialout $USER 
dmesg | grep tty 
sudo chmod 777  /dev/ttyACM0 
rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyACM0
rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py