UR5 docker images

It provides Docker images for the Universal Robots ROS2 Driver

Download a ready-to-use UR5 docker images

Using GUI

Go to the Actions tab, find the latest UR5 driver or UR5 MoveIt build, go inside the latest workflow run, download, and unzip artifacts called UR5 driver docker image or UR5 MoveIt docker image. Thess artifacts contain archived Docker images.

Using command line

Go to the Developer settings and generate a token to access the repo via Github API. Use this token in conjunction with your Github name to retrieve build artifacts.

token=<my_token>
# retrieve all artifacts
$ curl -i -u <my github name>:$token -H "Accept: application/vnd.github.v3+json" https://api.github.com/repos/razr/ur5/actions/artifacts | grep archive_download_url
      "archive_download_url": "https://api.github.com/repos/razr/ur5/actions/artifacts/101172967/zip",
      "archive_download_url": "https://api.github.com/repos/razr/ur5/actions/artifacts/101166906/zip",

# download the latest one for the UR5 driver
curl -u <my github name>:$token -L -H "Accept: application/vnd.github.v3+json"  https://api.github.com/repos/razr/ur5/actions/artifacts/101166906/zip --output ros.galactic.ur5driver.zip

# download the latest one for the UR5 MoveIt
curl -u <my github name>:$token -L -H "Accept: application/vnd.github.v3+json"  https://api.github.com/repos/razr/ur5/actions/artifacts/101172967/zip --output ros.galactic.ur5moveit.zip

Deploy

UR5 driver

$ unzip ros.galactic.ur5driver.zip
$ docker load -i ros.galactic.ur5driver.tar.gz

MoveIt

$ unzip ros.galactic.ur5moveit.zip
$ docker load -i ros.galactic.ur5moveit.tar.gz

Launch

UR5 driver

# with a faked hardware
$ docker run --net=host ros:galactic.ur5driver bash -c "ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=xxx.xxx.xxx.xxx use_fake_hardware:=true launch_rviz:=false"

# ur5
$ docker run --net=host ros:galactic.ur5driver bash -c "ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=xxx.xxx.xxx.xxx launch_rviz:=false"

$ docker run --net=host ros:galactic.ur5driver bash -c "ros2 control list_controllers"
force_torque_sensor_broadcaster[ur_controllers/ForceTorqueStateBroadcaster] active
io_and_status_controller[ur_controllers/GPIOController] active
speed_scaling_state_broadcaster[ur_controllers/SpeedScalingStateBroadcaster] active
joint_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] active
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active

MoveIt

docker run -ti -v "/tmp/.X11-unix:/tmp/.X11-unix" -e DISPLAY=$DISPLAY -e QT_GRAPHICSSYSTEM=native ros:galactic.ur5moveit bash -c "ros2 launch ur_bringup ur_moveit.launch.py ur_type:=ur5e robot_ip:=128.224.200.101 use_fake_hardware:=false launch_rviz:=true"
...
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1]
[move_group-1] You can start planning now!
[move_group-1]