Non-sequential Task Execution with Two Industrial Robots

This repository contains the simulation, control and documentation material developed for the thesis Non-sequential Task Execution with Two Industrial Robots. The project coordinates a UR3e and a UR5e through RoboDK, CoppeliaSim, ROS 2 Humble and the Universal Robots ROS 2 Driver.

Author and primary developer: Damjan Drobac
GitHub: DamjanDrobac999
Institution: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture Laboratory: CRTA – Regional Center of Excellence for Robotic Technology

Reproducible project stages

1. RoboDK dot following
2. RoboDK path following and configuration analysis
3. ABB CoppeliaSim path following
4. Dual-UR forward-position execution
5. Dual-UR recorded JointTrajectory execution

General documentation

• Installation
• Hardware and network setup
• Forward-position start-up
• JointTrajectory start-up
• URDF preparation
• Troubleshooting
• ROS 2 workspace

Validated hardware configuration

Role	Robot	IP address	ROS namespace	External Control port
Robot 1	UR3e	192.168.40.50	/robot1	50102
Robot 2	UR5e	192.168.40.14	/robot2	50002
Control computer	Ubuntu 22.04	192.168.40.51	—	—

All ROS 2 processes use ROS_DOMAIN_ID=7. See the hardware and network guide before connecting to physical robots.

Quick verification

After installing the prerequisites, build and inspect the workspace:

export ROS_DOMAIN_ID=7
source /opt/ros/humble/setup.bash
source "$HOME/ur_ws/install/setup.bash"

cd "$HOME/zavrsni_nonsequential_task_execution/ros2_ws"
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

ros2 pkg list | grep nonsequential_task
ros2 launch nonsequential_task_bringup dual_ns.launch.py --show-args

The physical-robot procedures are intentionally separated by controller:

• live forward-position execution
• recorded JointTrajectory execution

Do not run both procedures at the same time.

Repository contents

The repository contains:

• RoboDK stations and Python scripts
• CoppeliaSim scenes
• separate readable copies of embedded Lua scripts
• ROS 2 metapackage and project subpackages
• URDF files used during robot-model preparation
• bridge and trajectory-execution scripts
• Markdown installation and execution instructions
• Final thesis PDF

Generated recordings, ROS bags, plots, CSV files and videos are excluded from Git by .gitignore. They are experimental outputs rather than required source files.