/Ur5_Moveit_Gazebo

Python script for simulating UR5 using MoveIt in Gazebo and Rviz

Primary LanguagePython

Ur5_Moveit_Gazebo

Python script for simulating UR5 using MoveIt in Gazebo and Rviz

  • The code is based on Python script in Moveit Python interface: https://ros-planning.github.io/moveit_tutorials/doc/move_group_python_interface/move_group_python_interface_tutorial.html

  • Made it work with UR5 (Only change: group_name = "manipulator" instead of group_name = "panda") Deleted some unnecessary comments and variables.

  • Made some changes in IO part

    • Used a while(1) loop to take input until using KeyboardInterrup. This way sequential movement can be simulated.
    • Used a case variable for simulating different movement types.
    • There are 0 to 7 cases.
    • 0 and 1 cases are usefull for now. Have not made any changes to others.
    • CASE 0: For executing a movement using a joint state goal.
      • The input should be of the form key jgfj1 jgfj2 jgfj3 jgfj4 jgfj5 jgfj6
      • jgfj -> joint goal for joint ...
      • jgfj values are multiplied with pi to compute the values used in the go_to_joint_state function.
      • jgdf values are given as a list to the go_to_joint_state function.
      • key is for using different modes.
        • if key is given as 0, the values in the list is summed with the current joint values of the robot.
        • İf key is given as 1, the current joint values are changed with the values in the list.
    • CASE 1: For executing a movement using a pose goal.
      • The input should be of the form x y z w

  • To work with the script:

  1. roslaunch ur_gazebo ur5.launch (gazebo)
  2. roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true (moveit)
  3. roslaunch ur5_moveit_config moveit_rviz.launch config:=true (rviz)
  4. python ur5_tryout.py (python2)

UPDATE: There are two new cases for movement! To see how they work please read the commit notes.