ROS Index
Repository Summary
| Description | Warehouse Automation with 2 universal robot. This repository contain the creation of digital twin and real robot connection |
| Checkout URI | https://github.com/evacheung0929/ur5e_simulation_and_dual_arm_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| controller_stopper | 2.1.0 |
| ur_calibration | 2.1.0 |
| ur_dashboard_msgs | 2.1.0 |
| ur_robot_driver | 2.1.0 |
| universal_robots | 1.3.1 |
| ur10_moveit_config | 1.3.1 |
| ur10e_moveit_config | 1.3.1 |
| ur16e_moveit_config | 1.3.1 |
| ur3_moveit_config | 1.3.1 |
| ur3e_moveit_config | 1.3.1 |
| ur5_moveit_config | 1.3.1 |
| ur5e_moveit_config | 1.3.1 |
| ur_description | 1.3.1 |
| ur_gazebo | 1.3.1 |
| ur_kinematics | 1.3.1 |
README
UR5e_ROS_Simulation + Dual_Arm_Control
This repository summarises my learning of Universal Robot from simulation to actual robot connection using ROS, Dashboard and ur_rtde. It’s a working process, so stay tunned!
Goal: UR5e Pick and place simulation + real-robot motion planning with screwdriver & customised Airpick.
Progress: xml file saved in a desireable format that can be integrated with Factory Logix after robot movement finished
ROS Distro: Melodic (Ubuntu 18.04 LTS) Polyscope version: 5.13.0 UR packages: UR_ROS_Driver, as the industrial robot package will not support e-series 5.XX
- for usage of how to use the ur_robot_driver, look at Tutorial
Rviz/Gazebo
BOLD TEXT HERE
- Use Rviz for motion planning purposes, demonstrating the robot’s perception of the world (what the robot think it’s happening)
- [] Use Gazebo visualise the reality of what is happening
Installing Rvis with the UR5 Robot, assumed a prefred ROS distribution is already installed
$ sudo apt-get install ros-$ROS_DISTRO-rviz
Install ROS packages that publis the robot joint state:
$ sudo apt-get install ros-$ROS_DISTRO-joint-state-publisher-gui
In order to tell Rviz what the robot looks like, install universal-robot pakage from the ROS industrial project
~/catkin_ws/src$ git clone -b $ROS_DISTRO-devel https://github.com/ros-industrial/universal_robot.git
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—ould not have any m problems that I had run into with Ubuntu
- sudo apt update fetch problem
W: Failed to fetch http://gb.archive.ubuntu.com/ubuntu/dists/bionic/InRelease Could not resolve ‘gb.archive.ubuntu.com’
W: Failed to fetch http://gb.archive.ubuntu.com/ubuntu/dists/bionic-updates/InRelease Could not resolve ‘gb.archive.ubuntu.com’
W: Failed to fetch http://gb.archive.ubuntu.com/ubuntu/dists/bionic-backports/InRelease Could not resolve ‘gb.archive.ubuntu.com’
W: Failed to fetch http://security.ubuntu.com/ubuntu/dists/bionic-security/InRelease Could not resolve ‘security.ubuntu.com’
W: Some index files failed to download. They have been ignored, or old ones used instead.
solved by
sudo apt clean
sudo apt update
Pre-resiquite
CAD files of the end-effectors are correctly provided
URDF
**explain how to create a urdf file with customised end-effectors
- xcaro, urdf, srdf illustrated, customed & explained
URSim setup
In order to test out the ur_robot_driver package as mentioned above, connection to a real/simulated robot is necessary. This is where URSim comes in.
Download the corresponding URSim from the official website. Follow the steps
- Virtual Machine maybe necessary. This project used Virtual box & 7zip (extraction)
- if ran into vagrant shared folder problem, go to the VM setting & delete the shared folder, followed by reboot
Set up the network as following the providd Tutorial
Connection with URSim (VM) to ROS (VM)
configure both network to Bridge get the ip addresss of each using ‘ifconfig’
- scan the ports avaliable on the URSim
```
if nmap is not install
sudo apt install nmap
scan the network ports
nmap
scan for networks, but more thorough
nmap
Starting Nmap 7.60 ( https://nmap.org ) at 2023-01-16 14:46 GMT Nmap scan report for ursim (192.168.1.33) Host is up (0.00029s latency). Not shown: 65523 closed ports PORT STATE SERVICE 22/tcp open ssh 502/tcp open mbap 29919/tcp open unknown 29999/tcp open bingbang 30001/tcp open pago-services1 30002/tcp open pago-services2 30003/tcp open amicon-fpsu-ra 30004/tcp open amicon-fpsu-s
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