ROS2 humble MoveIt examples for Universal Robots on Ubuntu 22.04.
Examples from:
https://moveit.picknik.ai/humble/index.html
and
https://github.com/ros-planning/moveit2_tutorials
Implemented for Universal Robots.
Clone required repositiories:
$ cd ~/ros2_ws/src
$ git clone https://github.com/dominikbelter/ROS2_ur_moveit_examples
$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
$ git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
$ cd ~/ros2_ws
$ colcon build --symlink-install
$ . install/setup.bash
To run examples (change the robot names if needed):
$ ros2 run ur_robot_driver start_ursim.sh -m ur3e
Start the robot in the browser and then start the controller:
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.56.101 use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
Start MoveIt:
$ ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true use_fake_hardware:=true
Add additional transformations:
$ ros2 run tf2_ros static_transform_publisher 0 0 0.1 0.0 0.0 0.0 tool0 gripper
$ ros2 run tf2_ros static_transform_publisher 0.3 0.3 0.1 0.0 3.14 0.0 base_link object
And run examples:
$ ros2 launch ros2_ur_moveit_examples hello_moveit.launch.py
$ ros2 launch ros2_ur_moveit_examples kinematics.launch.py
$ ros2 launch ros2_ur_moveit_examples check_collisions.launch.py
$ ros2 launch ros2_ur_moveit_examples planning_scene.launch.py
$ ros2 launch ros2_ur_moveit_examples planning_scene_service.launch.py
Check the output in the terminal and in the RViz2.