- Novint Falcon
- Ubuntu 2004
- ROS Noetic
See how to install and test the Falcon in ROS here
- Install Moveit!
sudo apt install ros-noetic-moveit
- Install UR package
Follow the instructions here using this repo,
git clone --depth 1 --branch melodic-devel https://github.com/ros-industrial/universal_robot.git
or
git clone -b melodic-devel https://github.com/ros-industrial/universal_robot
catkin build
Test the UR3 robot
roslaunch ur_gazebo ur3_bringup.launch
- Test UR3 with Moveit!
<!-- roslaunch ur_gazebo ur3_joint_limited.launch -->
roslaunch ur_gazebo ur3_bringup.launch
roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur3_moveit_config moveit_rviz.launch config:=true
See the moveit doc and UR - ros industrial
- Clone this repo and build it
git clone https://github.com/jcorredorc/ur_haptics_teleop_ros.git
- Start the robot simulation, moveit, Gazebo and Rviz
rosrun ur_haptics_teleop_ros start_robot_ur3.sh
Test a simple pick and place task (see Edx course)
rosrun ur_haptics_teleop_ros pick_place_test.py
Test the move_group interface tutorial in the UR3.
In Rviz, include in Panels/Add New panel, RvizVisualToolsGui, to navigate throughout the tutorial. Also include the Marker display and configure the Marker topic to /rviz_visual_tools
rosrun ur_haptics_teleop_ros move_group_pose_goal_node
rosrun ur_haptics_teleop_ros move_group_joint_goal_node
rosrun ur_haptics_teleop_ros move_group_path_constrain_node
rosrun ur_haptics_teleop_ros move_group_cartesian_path_node
rosrun ur_haptics_teleop_ros move_group_adding_objects_node
- moveit_servo examples
see the github site
rosrun ur_haptics_teleop_ros start_robot_ur3.sh
In RViz, grab the red/blue/green “interactive marker” and drag the robot to a non-singular position (not all zero joint angles) that is not close to a joint limit. Click “plan and execute” to move the robot to that pose.
rosservice call /controller_manager/switch_controller "start_controllers: ['joint_group_position_controller']
stop_controllers: ['arm_controller']
strictness: 0
start_asap: false
timeout: 0.0"
roslaunch ur_haptics_teleop_ros cpp_interface_example.launch
Usign URSim and moveit, get this error
[ERROR] [1680131092.166186633]: Link 'ee_link' not found in model 'ur3_robot'
[servo_server-1] process has died [pid 149503, exit code -11, cmd /home/javier/catkin_ur/devel/lib/ur_haptics_teleop_ros/cpp_interface_example_node __name:=servo_server __log:=/home/javier/.ros/log/08d99332-ce81-11ed-a66a-a394436df276/servo_server-1.log].
log file: /home/javier/.ros/log/08d99332-ce81-11ed-a66a-a394436df276/servo_server-1*.log