soma_ur5 package

This package contains the stuff for the UR5 setup in SOMA project.

get dependencies:

• sudo apt-get install ros-indigo-leap-motion ros-indigo-bfl

#add more dependencies get the forked versions of the packages in https://github.com/SIRSIIT :

• roscd && cd ../src

• git clone https://github.com/SIRSIIT/universal_robot.git for corrected kinematics

• git clone https://github.com/SIRSIIT/pisa-iit-soft-hand.git for the soft hand to work :-/

• git clone https://github.com/SIRSIIT/ros_control.git for some reason

• git clone https://github.com/SIRSIIT/gazebo_ros_pkgs.git for some hackery

• mkdir ~/code && cd ~/code && git clone https://github.com/qbrobotics/handadmin.git && git clone https://github.com/qbrobotics/qbAPI.git && cd qbAPI && git checkout 493b2591c5333d42ea5e7306caf203c42b56b292

• roscd soft_hand && cd ../hand-tools && rm -r handadmin qbAPI && ln -s ~/code/qbAPI && ln -s ~/code/handadmin

• cd ~/code/qbAPI/src && git checkout 72c0d68139060b95eeeb0f175ee44610f9ca2f71

• catkin_make

to run do:

• roslaunch soma_ur5 ur5_robot.launch simulated:=true hand:=true

Other arguments are: robot_ip , sensor_ip , use_rviz , gz_gui

Choose between these to command the robot:

• roslaunch soma_ur5 [commander]

where [commander] can be:

• com_haptic.launch
• com_interactive.launch
• com_leap.launch

To offset the sensor do:

• rosservice call /Bias_sensor

Visualisation is done with either the use_rviz argument or

• rosrun rviz rviz

Further configurations (such as the joint speed) are made through:

• rqt