JinOuYongGu / UR_3D_Printing

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UR Additive Manufacturing

Developed for Universal Robot base on ROS. Enable an UR3 robot to 3d printing parts with generic 3-axis or multi-axis way.

Recommend Environment

OS: Ubuntu 18.04 ROS: Melodic IDE: VScode

Dependency & Building

Dependency

robot driver

# switch to workspace src folder
cd ~
cd catkin_ws/src

# clone the robot driver
git clone https://github.com/JinOuYongGu/Universal_Robots_ROS_Driver.git

The repo is a fork from https://github.com/UniversalRobots/Universal_Robots_ROS_Driver You can also clone the official one. For more installation guide about the driver, see this: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#building

serial library

sudo apt-get install ros-melodic-serial

visual tools library

sudo apt-get install ros-melodic-moveit-visual-tools

You may need to reboot your PC after install these libraries.

Building

After installing the ur_robot_driver, download the code of this repo and build it.

cd ~
cd catkin_ws/src
git clone https://github.com/JinOuYongGu/UR_3D_Printing.git

Then your src folder should look like this:

  • universal_robot
  • Universal_Robots_ROS_Driver
  • UR_Additive_Manufacturing

Now you can switch to catkin_ws folder and build the project.

cd ..
catkin_make

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