uob-erl/bir03_husky

bir3 husky costumizations

bir3_husky

How to run Husky+UR5 simulation:

Step 1: Clone git repositories to /src git clone https://github.com/uob-erl/bir03_husky.git git clone https://github.com/uob-erl/husky_manipulation.git git clone https://github.com/ros-industrial/universal_robot.git git clone https://github.com/uob-erl/husky.git

Step 2: Modify universal_robot pkg

1. Go to src/universal_robot/ur_gazebo/controller/arm_controller_ur5.yaml and delet everything and paste the following:

arm_controller:
  type: position_controllers/JointTrajectoryController
  joints:
     - ur_arm_shoulder_pan_joint
     - ur_arm_shoulder_lift_joint
     - ur_arm_elbow_joint
     - ur_arm_wrist_1_joint
     - ur_arm_wrist_2_joint
     - ur_arm_wrist_3_joint
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0
      ur_arm_shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
      ur_arm_shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
      ur_arm_elbow_joint: {trajectory: 0.1, goal: 0.1}
      ur_arm_wrist_1_joint: {trajectory: 0.1, goal: 0.1}
      ur_arm_wrist_2_joint: {trajectory: 0.1, goal: 0.1}
      ur_arm_wrist_3_joint: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10
joint_group_position_controller:
  type: position_controllers/JointGroupPositionController
  joints:
     - ur_arm_shoulder_pan_joint
     - ur_arm_shoulder_lift_joint
     - ur_arm_elbow_joint
     - ur_arm_wrist_1_joint
     - ur_arm_wrist_2_joint
     - ur_arm_wrist_3_joint

2. Go to src/universal_robot/ur_description/urdf, modify ur5.urdf.xacro in section "", change to This is actually changeing the initial position of UR5 arm. If don't do this, the Gazebo will run into conllision bug. Any change to a valid position are acceptable.

Step 3: Use launch file

1. Use moveit!: roslaunch bir03_moveit demo_gazeo.launch
2. Do not use moveit!: roslaunch bir03_husky_launch bir03_gazebo.launch