Universal robots (UR5)

From Robin

Revision as of 12:26, 7 February 2024 (view source) Vegardds (Talk | contribs) ← Older edit		Current revision as of 13:28, 7 February 2024 (view source) Vegardds (Talk | contribs) (→ROS and UR5 (Under development))
Line 5:		Line 5:
	== ROS and UR5 (Under development)==		== 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'
	== Gripper, force sensor and RGB camera ==		== 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'

Gripper, force sensor and RGB camera