rosdep install --from-paths src --ignore-src -r -y
Install Universal_Robots_ROS_Driver: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver
Check the connection port after connecting Robotiq Gripper and PC
Check /dev/ttyUSB* and if it's not ttyUSB0, modify the comport argument in “robotiq_2finger_grippers/robotiq_2f_gripper_control/launch/robotiq_action_server.launch”
usb port problem: ros-industrial/robotiq#167
roslaunch robotiq_2f_gripper_control robotiq_action_server.launch
gripper open close topic name: /command_robotiq_action/goal
position: 0 close gripper position: 1 open gripper
roslaunch ur_robot_driver ur5_robotiq_bringup.launch robot_ip:=192.168.60.31
( roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.60.31 )
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
rosrun tuw_checkerboard tuw_checkerboard_node image:=/camera/color/image_raw camera_info:=/camera/color/camera_info
- Power On
- Press Start
- (Optional) Press the button behind the controller to manually move the joints (push hard)
- Press OK on bottom right
- Run Program -> File on the top left -> Load Program
- Select external_control.urp and Press Open
- Press the green button to start
- Execute the following commands in different terminals (or just use different panes in tmux)
# 1st terminal
$ roslaunch ur_robot_driver ur5_robotiq_bringup.launch robot_ip:=192.168.60.31
# 2nd terminal
$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch
# "We can start planning now!" will appear if successful
# press start - external control
# (Optional) 3rd terminal
$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true
# manual control in rviz
# control using the arrows
# (Important) First Plan, then Execute! (avoid collision)
# quit rviz and run
$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
# 4th terminal
ur5/realrobot$ python planner.py # fix path to catkin_ws/src/ in the code
# calibration
# execute ur5/realrobot/Calibration Manual.ipynb
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