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Universal Robot Manipulator

Installation

We have configured the devcontainer to install the drivers required by the ur robots during the build process.

If you are setting this up yourself (outside the devcontainer) and using a Universal Robot Manipulator, follow the official instructions here or here

Calibration

We are using a ur10 mnaipulator in our system and we utilize standard launch files to start the robot.

Since the calibration step depends on each robot, follow the instruction here to calibrate.

Start the UR robot

Use the following command to start the UR robot control

source install/setup.bash
ros2 launch grasping_control ur10.launch.py

This wrapper launch file includes the default ur_robot_driver and ur_moveit_config launches with these defaults:

  • ur_type:=ur10
  • robot_ip:=10.0.0.89
  • kinematics_params_file:=/home/ubuntu/colcon_ws/src/ur_grasping/grasping_control/config/ur_kinematics.yaml
  • launch_rviz:=true
  • initial_joint_controller:=scaled_joint_trajectory_controller

Override any of them on the command line when needed, for example

source install/setup.bash
ros2 launch grasping_control ur10.launch.py robot_ip:=10.0.0.89 launch_rviz:=false

if the execution fails, try the following command

source install/setup.bash
ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{activate_controllers: ['scaled_joint_trajectory_controller'], deactivate_controllers: [], strictness: 1, activate_asap: true, timeout: {sec: 5, nanosec: 0}}"