universal_robot_ign

universal_robot_ign : Run universal robot in Ignition Gazebo simulator .

It provides SDF models of universal robot for Ignition Gazebo. In addition, it also provides a moveit2 application demo and simple grasp demo with Gripper Robotiq140 .

Usage

Install

• ROS 2: Galactic
• Ignition : Fortress
• dependencies:moveit2, xmacro, sdformat_tools (from source code)

#install dependency
pip install xmacro
sudo apt-get install ros-galactic-moveit
export IGNITION_VERSION=fortress
#cd src of ros2 workspace and download source code
git clone https://github.com/gezp/sdformat_tools.git
git clone https://github.com/gezp/universal_robot_ign.git
#cd ros2 workspace and build
colcon build

UR10 moveit2 demo

launch Ignition Gazebo simulator for UR10

ros2 launch universal_robot_ign ur10_ign.launch.py 

• joint_trajectory_controller will be used in this demo

launch moveit2 move_group action server for UR10.

ros2 launch universal_robot_ign ur10_moveit2_demo.launch.py 

run moveit2 client node, plan to goal

ros2 run universal_robot_ign test_pose_goal.py

• start position <-> goal pose: [-0.0, 0.4, 0.6, 0.0, 0.0, 0.0] (loop)

the result:

UR10 + Robotiq140 Grasp demo

• control gripper Robotiq140 to grasp object and control UR10 based on joint position.

launch Ignition Gazebo simulator for UR10 + Robotiq140

ros2 launch universal_robot_ign ur10_robotiq140_ign.launch.py 

• use Ignition plugin RobotiqController to control Robotiq140.

run gripper test node to grasp stick model by closing gripper

ros2 run universal_robot_ign test_gripper.py 
#1 : close gripper to grasp.
#0 : open gripper.

the result:

Models

the package contains some SDF models :

• robotic arm universal_robot models : ur3,ur5,ur10
• robotic gripper models: robotiq140

in addition, it also provides a combination model ur10_robotiq140 (resource/xmacro/ur10_robotiq140.sdf.xmacro), which is ur10 robotic arm attached robotiq140 gripper.

the sdf files of these models are written modularly by use xmacro which is a xml macro tool.

Controllers

UR Controller

Ignition Controller

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