ur5

1. Overview

任务：控制UR5机械臂移动和抓取

2. Prerequisites

2.1 Hardware

Universal Robot UR5 Industrial Robot Arm

2.2 Software

Our package was developed in Ubuntu 16.04 and ROS KineticROS Installtaion.
MoveIt!: ROS robot planning framework
ur_modern_driver: ROS driver for UR10 robot controller from Universal Robots

安装MoveIt

sudo apt-get install ros-kinetic-moveit-*

sudo apt install ros-kinetic-ur-*
sudo apt install ros-kinetic-ur5-moveit-config 

2.3 Test TCP/IP

Set PC_ip

Run with real robot 用PING命令测试通讯：

ping IP_OF_THE_ROBOT

示例：

ping 192.168.131.40

3. Build on ROS

In your catkin workspace:

$ mkdir -p ur5_ws/src

cd ~/ur5_ws/src
git clone https://github.com/iseedwyane/universal_robot.git
cd ..
catkin_make

再导入py文件，编译后run
Note:环境配置

echo "source ~/ur5_ws/devel/setup.bash" >> ~/.bashrc
source ~/.zbarc
---------------
$ echo "~/ur5_ws/devel/setup.bash" >> ~/.bashrc
$ source .bashrc 
have a look:
$ gedit .bashrc
$ sudo gedit .bashrc

查看路径配置结果：

echo $ROS_PACKAGE_PATH 

4. Run

4.0.1Run in Gazebo and Rviz:

$ roslaunch ur_gazebo test2.launch simulation:=true

4.0.2 Run aruco_realsense

$ roslaunch aruco_ros single_realsense.launch

rqt_image_view 
rostopic echo /aruco_single/pose

4.0.3 Run tf

roslaunch learning_tf tf_demo.launch

4.1 Run in Simulation Gazebo

way_final

1. 打开一个终端，启动Gazebo同时导入ur5的模型信息：

PC:$ roslaunch ur_gazebo test.launch simulation:=true
roslaunch ur_gazebo test2.launch simulation:=true

2.运行

$ ~/ur5_ws/script
$ python test_demo.py   &&  test_demo2.py   
python cartesian3_succ.py

way_1:

1. 打开一个终端，启动Gazebo同时导入ur5的模型信息：

roslaunch ur_gazebo ur5.launch

2. 另外打开一个终端，启动moveit!的节点，并导入ur5的moveit!配置文件：

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true

3.运行

~/ur5_ws/src/ur5_pkgby13
$ python moveit_fk_demo.py

Put these launch commander into test2.launch file in ur_gazebo package

roslaunch ur_gazebo test2.launch

is also ok.

way_2:

也可以另外打开一个终端，打开可视化可交互的Rviz界面：

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

在Rviz中拖动机械臂到某个位置，并选择planning>>plan，在rviz中使用MoveIt!插件选择一个运动目标姿态，然后点击“Plan”。再点击“Execute”按钮，gazebo中的UR5会按照规划的轨迹开始运动，rviz中的UR5模型保持同样的运动姿态。

way_3:

rosrun ur5_pkgby13 moveit_fk_demo.py

rosrun failed

ssen@sen-inspiron-15-7000-gaming:$ rosrun ur5_pkgby13 moveit_fk_demo.py
[rosrun] Couldn't find executable named moveit_fk_demo.py below /home/ssen/ur5_ws/src/ur5_pkgby13
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/ssen/ur5_ws/src/ur5_pkgby13/moveit_fk_demo.py
ssen@sen-inspiron-15-7000-gaming:$

4.2 Run with Real Robot

4.3 Changing execution parameters

5. Background

6. Maintenance