for backup repository
- 2019.05.07 첫번째 백업
- 2019.05.17 두번째 백업
- inculde the ur_moder_driver for ROS Kinetic:
- editing $ ur_modern_driver\src\ur_hardware_interface.cpp
- include the version realsense d435 moveit package
- inculde the ur_moder_driver for ROS Kinetic:
- 2019.06.05 세번째 백업
- inculde the ur_moveit rosnode packages.
- inculde the stookroom gazebo world programming robots with ROS
- inculde the ar_track_alvar pacakge.
- inculde the ur3_bringup.launch in the "my_ur3_d435_control.launch"
- 2019.06.20 네번째 백업
- update the new ur3_hj3_moveit package
- this package's urdf include the hj hand.
- editing the urdf which is shoulder pan joint limit pi/2 → pi
- update the ur_moveit rosnode.
- the node latest version is 6.
- test code(node) name is ur_marker_test.py
- update the stookroom gazebo world.
- update the new ur3_hj3_moveit package
- 2019.07.15 다섯번째 백업
- update the hj_hand communication python code
pc +++ serial2usb module +++ bluetooth(M) <-----> bluetooth(S) +++ stm32f303
Before simulation setting:
registration the "GAZEBO_MODEL_PATH env." [ref. link](https://github.com/Jpub/ROS/tree/master/stockroom_bot)
$ export GAZEBO_MODEL_PATH=${HOME}/catkin_ws/src/stockroom_bot/models
or
$ export GAZEBO_MODEL_PATH=${HOME}/catkin_ws/src/hj-ur3-package/ur3_my_ros/ur3_hj3_moveit_config/hj3_gazebo_urhand/models
Simulation:
$ roslaunch ur3_hj3_moveit_config ur3_stockroom.launch
with hammer simulation
$ roslaunch ur3_hj3_moveit_config ur3_hammer_stockroom.launch
$ roslaunch ur3_hj3_moveit_config ur3_hj3_moveit_planning_execution.launch sim:=true
$ roslaunch ur3_hj3_moveit_config moveit_rviz_sim.launch
$ rosrun my_pcl_tutorial example input:=/d435/depth/points
$ rosrun ur3_moveit marker_move_demo.py
Real robot
$ roslaunch ur3_hj3_moveit_config my_ur3_d435_control.launch
$ roslaunch ur3_hj3_moveit_config ur3_hj3_moveit_planning_execution.launch
$ roslaunch ur3_hj3_moveit_config moveit_rviz.launch
$ rosrun my_pcl_tutorial example input:=/camera/depth/color/points
$ rosrun ur3_moveit marker_move_demo_6.py
or
$ rosrun ur3_moveit ur_marker_test.py