It is inspired and uses the code from https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git.

The communication with UR CB2 is mainly managed by the ur_driver class, which is wrapped by the ioc_ur_cb2_driver_ros that incorporates it to the ROS2 framework.

First create a workspace:

mkdir -p ws_cb2/src
cd ws_cb2/src

It is necessary to clone the following repositories:

git clone https://github.com/iocroblab/ioc_ur_cb2_driver.git
git clone https://github.com/iocroblab/ioc_ur_cb2_driver_ros.git

And have installed:

sudo apt install ros-humble-xacro
sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers
sudo apt install ros-humble-controller-manager
sudo apt install ros-humble-ur-description

Finally, at the root of your ROS 2 workspace, build using:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Once the code is compiled, and the workspace is set using:

source install/setup.bash

You can launch the driver using:

ros2 launch ur_cb2_bringup ur_control.launch.py ur_type:=<UR_TYPE> robot_ip:=<IP_OF_THE_ROBOT>

• <UR_TYPE> can be 'ur5' or 'ur10'. For e-Series robots, please use official Universal Robot driver.
• You can see all the launch arguments by --show-args
• If you are only running the driver for a CB2 UR5, then you can use this launch file instead:

  ros2 launch ur_cb2_bringup ur5.launch.py robot_ip:=XXX.XXX.XX.XXX
  

Once the robot driver is running, you can move the robot (when a prefix is not used) using the topics:

• Position controller case (NO IMPLEMENTED!):

ros2 topic pub --once /forward_position_controller/commands std_msgs/msg/Float64MultiArray "layout:
  dim: []
  data_offset: 0
data: [#,#,#,#,#,#]"

• Velocity controller case:

ros2 topic pub --once /forward_velocity_controller/commands std_msgs/msg/Float64MultiArray "layout:
  dim: []
  data_offset: 0
data: [#,#,#,#,#,#]"