jhu-saw/sawUniversalRobot

SAW component to interface to Universal Robots via real-time script interface (TCP/IP socket to port 30003).

sawUniversalRobot

This SAW package contains a component to interface to a Universal Robot (UR3/UR5/UR10) via the real-time scripting/socket interface (mtsUniversalRobotScriptRT).

This component runs on an external PC and communicates with the UR controller via a TCP/IP socket to port 30003.

The ros folder contains code for a ROS node that interfaces with the sawUniversalRobot component and publishes the 3D transformations as well as the joint state (position, velocity and effort). To build the ROS node, make sure you use catkin build.

Links

• License: http://github.com/jhu-cisst/cisst/blob/master/license.txt
• JHU-LCSR software: http://jhu-lcsr.github.io/software/

Dependencies

• cisst libraries: https://github.com/jhu-cisst/cisst
• Qt for user interface
• ROS (optional)

Running the examples

ROS

First you need to make sure you can communicate with the UR robot using it's IP address (for example 10.162.34.61). The ROS node is universal_robot and can be found in the package universal_robot_ros:

rosrun universal_robot_ros universal_robot -i 10.162.34.61