This repository is ROS 2 workspace that contains packages required for the completion of the following learning nuggets:
- Nugget 1: setup instructions for UR5, MoveIt GUI with UR5 changing a few poses on both fake driver and real robot
- Nugget 2: setup instructions for gripper, open and close the gripper using a simple coding example
- Nugget 3: using a simple coding example to move the robot using MoveIt
- Moveit
- Universal Robots ROS2 Driver (doesnt work rn)
git clone https://github.com/patsyuk03/ur_ros2_tutorial.git
cd ur_ros2_tutorial
colcon build
source install/setup.bash
For work with fake hardware:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=xxx.xxx.x.xxx use_fake_hardware:=true initial_joint_controller:=joint_trajectory_controller launch_rviz:=false
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 use_fake_hardware:=true launch_rviz:=true
For work with real robot:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=xxx.xxx.x.xxx use_fake_hardware:=false launch_rviz:=false
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 use_fake_hardware:=false launch_rviz:=true
Same as in Nugget 1
ros2 launch robotiq_hande_ros2_driver gripper_bringup.launch.py robot_ip:=xxx.xxx.x.xxx
ros2 run robotiq_hande_ros2_driver test
For work with fake hardware:
ros2 launch ur5_example ur5.launch.py
ros2 launch ur5_example pnp_node.launch.py
For work with real robot:
ros2 launch ur5_example ur5.launch.py robot_ip:=xxx.xxx.x.xxx use_fake_hardware:=false
Start external_control program at teach pendant
ros2 launch ur5_example pnp_node.launch.py