fe_ur5e

Example for using UR5e@ULFE with Pilz motion planner.

install UR ros driver:

https://github.com/UniversalRobots/Universal_Robots_ROS_Driver

install moveit

$ sudo apt install ros-melodic-moveit

instal pilz motion planner

http://wiki.ros.org/pilz_robots/Tutorials/MoveRobotWithPilzCommand_planner

Pilz robots:

$ sudo apt install ros-melodic-pilz-robots

UR robot calibration

Get calibration data from real robot.

$ roslaunch ur_calibration calibration_correction.launch robot_ip:=192.168.65.244 target_filename:="${HOME}/catkin_ws_ur5e/src/ur/ur5e_fe/calib/ur5e_1_calibration.yaml"

UR driver

Launch robot ROS driver.

$ roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.65.244 kinematics_config:=$(rospack find ur5e_fe)/calib/ur5e_1_calibration.yaml

UR script

Load and run script on UR5e robot

feros/ros_connect.urp

Moveit with Pilz

Load and run Moveit with Pilz motion controller. At the same time Rviz is opened for moving the robot via GUI.

$ roslaunch ur5e_fe pilz_real_robot_ur5e.launch

Application

Use python moveit interface to plan robot application

MoveIt help:

https://ros-planning.github.io/moveit_tutorials/doc/move_group_python_interface/move_group_python_interface_tutorial.html

class MoveGroupCommander:

http://docs.ros.org/en/indigo/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html

Check example:

$ roscd ur5e_fe
$ code ./scripts/main_ur5e.py

Use I/O

States of inputs are published on topic /ur_hardware_interface/io_states

$ rostopic echo /ur_hardware_interface/io_states

Outputs can be set via service /ur_hardware_interface/set_io

$ rosservice call /ur_hardware_interface/set_io "fun: 0 pin: 0 state: 0.0"

Service use ur_msgs/SetIO Service (check documentation https://docs.ros.org/en/noetic/api/ur_msgs/html/srv/SetIO.html).