This repository provides ROS support for the universal robots. This repo holds source code for all versions > groovy. For those versions <= groovy see: hg https://kforge.ros.org/ros_industrial/universal_robot
To check that the package works with a UR5, set up a catkin workspace and clone the repository into the src/ folder. It should look like ~/catkin_ws/src/universal_robot. Don't forget to source the setup file ($ source ~/catkin_ws/devel/setup.*sh), then use catkin_make to compile. You can then start the driver with the following commands (start new terminals, don't forget to source the setup shell files):
$ roslaunch ur_bringup ur5.launch robot_ip:=IP_OF_THE_ROBOT
$ roscd ur_driver; ./test_move.py
In order to start moveit! s.t. it can directly control the robot, close ur_bringup and type this:
$ roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=IP_OF_THE_ROBOT
Remember that you should always have your hands on the big red button in case there is something in the way, or anything unexcpected happens.
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Amanda's Updates to this Incorrect README file:
Use the amedwards branch: ur5_robotiq_2finger
If you really want to run the bringup file, this is the command you need to execute:
/catkin_ws/src/universal_robot$ roslaunch ur_bringup ur5_bringup.launch robot_ip:=192.168.1.155
To actually use the robot with the updated files:
/catkin_ws/src/universal_robot/ur5_moveit_config/launch$ roslaunch demo.launch
This will bring up MoveIt! Be sure to update the start state of the robot each time you plan a new motion or else the previous start state will be used for the planning.
To run with the fake robot:
roscore
amanda@jade-shadow:~/catkin_ws/src/universal_robot/ur5_robotiq_moveit_config/launch$ roslaunch demo_fake_robot.launch
amanda@jade-shadow:~/catkin_ws/src/universal_robot/scripts$ ./cartesian_movement.py
amanda@jade-shadow:~/catkin_ws/src/code_sprint_1/src/scripts$ ./test_gripper.py
In the test gripper.py file, if you change the position value from 0 to 1 it changes the gripper from open to close. The actual joint positions for the gripper's finger joints are located in cartesian_movement.py