红莲！ simulate and control ur5
Notice: this repo has submodule clone it with --recursive
# Clone all submodules
git clone --recursive [email protected]:mrzhuzhe/Gurren.git
Notice: you shall install python3-rosdep
# Install ROS Noetic first
# then install rosdep
sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update
# this is ad hoc a bug rqt didn't auto install controller manager
sudo apt-get install ros-noetic-rqt-controller-manager
- ROS Noetic
- UR robot driver Version 2022/08
- moveit Moveit 1 Noetic
- gazebo Version 11
Customize ros contoller to implement cartesian velocity control
cd my_test/
source devel/setup.bash
// run to a position with static cartesian velocity
roslaunch ur_gazebo ur5e_bringup.launch controllers:=cartesian_velocity_position_controller
// caertesian velocity controller
roslaunch ur_gazebo ur5e_bringup.launch controllers:=cartesian_velocity_controller
// cartesian position
roslaunch ur_gazebo ur5e_bringup.launch controllers:=cartesian_controller
// only test control hook
roslaunch ur_gazebo ur5e_bringup.launch controllers:=test_controller
// run it with rqt topic publisher
cd my_test/
catkin build
// install controller plugins
// If you add a controller plugin you need run this once more time
rosdep install -i --from-path src --rosdistro noetic --ignore-src -r -y
source devel/setup.bash
Setup ROS gazebo enviroment and moveit to move robot follow a trajectory base on 3d model convexhull
cd catkin_ws/
// connect robot
roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.130.105
[gazebo] roslaunch zz_test ur5_gazebo_test.launch
// make planing
roslaunch zz_test ur5_moveit_planning_execution.launch
[with gazebo ]roslaunch zz_test ur5_moveit_planning_execution.launch sim:=true
// visualize
roslaunch zz_test moveit_rviz.launch
// application
// draw a circle/cone
roslaunch zz_test move_group_interface_tutorial.launch
# install dependencies
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y
# build the workspace
$ cd catkin_ws
$ catkin_make
# activate the workspace (ie: source it)
$ source devel/setup.bash