This package contains tutorials around the ROS 2 packages for Universal Robots.
To use the tutorials from this repository, please make sure to install ROS 2 on your system. With that, please create a workspace, clone this repo into the workspace, install the dependencies and build the workspace.
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Create a colcon workspace:
export COLCON_WS=~/workspaces/ur_tutorials mkdir -p $COLCON_WS/src
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Download the required repositories and install package dependencies:
cd $COLCON_WS git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials.git src/ur_tutorials rosdep update && rosdep install --ignore-src --from-paths src -y
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Create a colcon workspace:
cd $COLCON_WS colcon build
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Source your workspace
source $COLCON_WS/install/setup.bash
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Launch an example e.g. the custom workcell example
ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true