ur_project_ros2

The application of ur robots, robotiq gripper, realsense camera, etc.

To find more infomation (installation, usage), visit wiki

⚠️ Notice: This repository is no longer actively maintained.
While you are welcome to explore and use the code, please note that updates and issue responses may be infrequent.
Thank you for your interest and understanding.

Structure

• robot_setup: robot description, moveit config, simulation env setup, etc.
  • ur_robotiq_rs: ur manipulator with a robotiq gripper and a realsense camera in its end effector
  • dual_ur_robotiq_rs: dual ur_robotiq_rs
  • vision: vision tools to detect objects, estimate pose, etc.
• tasks:
  • pick_and_place use moveit to plan a path to the given pose, grasp the obj.
  • find_hole use ft sensor.
  • dual_plan plan and execute dual arms at the same time.
• libs: third-party tools, plugins, etc.

Temp note

create new task package:

ros2 pkg create ${task_name} --build-type ament_cmake --node-name ${task_name} --dependencies rclcpp moveit_core moveit_ros_planning_interface moveit_common moveit_ros_planning tf2 rclcpp_action rclcpp_components control_msgs ${robot_pkg}