/tams_ur5_gazebo

Primary LanguagePythonBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

tams_ur5_gazebo

Gazebo launch files and simulation specific data

Installation

Create a new ROS workspace and then download all ROS packages required for the TAMS UR5 robot setup; see github.com/TAMS-Group/rosinstalls for a list of predefined rosinstall-scripts. In particular, you will require:

  • the basic ROS system,
  • the UR5 robot model from Universal Robots,
  • the Robotiq 3-finger gripper robot model (tams fork),
  • the tams_ur5_setup robot model and utilities,
  • the tams_ur5_gazebo wrappers and tools for Gazebo.
  • you also want Moveit with all its dependencies.

We currently support Gazebo classic (version 11.11.0 (c) 2012 OSRF) on ROS noetic. Older and newer versions will not work and require significant porting effort to run.

After downloading all required packages and their dependencies, build your workspace (catkin build) and finally source your devel/setup.bash script from the freshly built workspace.

Usage

By default, the Gazebo simulator will be started in paused with a timestep of 1.0 msec (or 1kHz udpate rate). You should update the timestep according to your needs; shorter timesteps often result in more accurate and more stable simlation, but not always.

Typically, you would wait until your model is loaded into Gazebo; Click the start in the Gazebo GUI or run the corresponding Gazebo service (gazebo/unpause_physics). Watch out for errors and try to fix all errors reported by Gazebo and rviz before trying to fine-tune the simulation:

roscore &
roslaunch tams_ur5_gazebo tams_ur5_gazebo.launch

The world should now look similar to the screenshot:

screenshot of TAMS UR5 setup in gazebo simulator

Example

For a first basic pick-and-place task with hardcoded configurations, make sure to download the "Coke can" SDF model from the Gazebo models collection. Install the TAMS UR5 setup files are described above.

roslaunch tams_ur5_gazebo tams_ur5_gazebo.launch
... wait until Gazebo has finished loading...
... press the start button

rosrun tams_ur5_gazebo grab_coke_can_demo.py 
... the scripts spawns one Coke can object, then moves the UR5 arm
    to grasp the can, lift it up, move a few centimeters, and drop
    back onto th e experiment table.
... to restart the demo, use world->models->coke can->delete in gzgui.