Universal robots (UR5)
From Robin
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See information from vendor [https://www.universal-robots.com/products/ur5-robot/ here]. | See information from vendor [https://www.universal-robots.com/products/ur5-robot/ here]. | ||
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| + | == ROS and UR5 (Under development)== | ||
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| + | https://github.com/UniversalRobots/Universal_Robots_ROS_Driver | ||
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| + | Bringup and gazebo: | ||
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| + | apptainer exec --nv -p ur_noetic.sif bash -c 'source /opt/ros/noetic/setup.bash; source /opt/ur/devel/setup.bash; roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true' | ||
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| + | MoveIt: | ||
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| + | apptainer exec --nv -p ur_noetic.sif bash -c 'source /opt/ros/noetic/setup.bash; source /opt/ur/devel/setup.bash; roslaunch ur5_moveit_config moveit_rviz.launch' | ||
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| + | == Gripper, force sensor and RGB camera == | ||
Current revision as of 13:28, 7 February 2024
In the mocap lab we have a UR5 robot at disposal.
See information from vendor here.
ROS and UR5 (Under development)
https://github.com/UniversalRobots/Universal_Robots_ROS_Driver
Bringup and gazebo:
apptainer exec --nv -p ur_noetic.sif bash -c 'source /opt/ros/noetic/setup.bash; source /opt/ur/devel/setup.bash; roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true'
MoveIt:
apptainer exec --nv -p ur_noetic.sif bash -c 'source /opt/ros/noetic/setup.bash; source /opt/ur/devel/setup.bash; roslaunch ur5_moveit_config moveit_rviz.launch'
