コマンド

• vcs import src < src/underlay.rosinstall
• rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
• colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
  • clean cache option --cmake-clean-cache

PC内環境でのURデモコマンド

demo1

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.42 use_fake_hardware:=true launch_rviz:=true
ros2 launch ur_bringup test_joint_trajectory_controller.launch.py

demo2

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.42 robot_controller:=scaled_joint_trajectory_controller use_fake_hardware:=true launch_rviz:=true
ros2 launch ur_bringup test_scaled_joint_trajectory_controller.launch.py

moveit demo

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.42 use_fake_hardware:=true launch_rviz:=false
ros2 launch ur_bringup ur_moveit.launch.py ur_type:=ur5e robot_ip:="192.168.56.42" use_fake_hardware:=true launch_rviz:=true