urman

ROS2 packages for the UR manipulator with a Robotiq gripper

Getting Started

Required setup : Ubuntu 22.04 LTS

1. Install ros2 packages. The current development is based of ros2 humble. Installation steps are described here.
2. Source your ros2 environment:

   source /opt/ros/humble/setup.bash

   NOTE: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the ~/.bashrc file.
3. Install colcon and its extensions :

   sudo apt install python3-colcon-common-extensions

4. Create a new ros2 workspace:

   mkdir ~/ros2_ws/src

5. Pull relevant packages, install dependencies, compile, and source the workspace by using:

   cd ~/ros2_ws
   git clone https://github.com/maberobotics/ilab_ur_robot.git src/ilab_ur_robot
   vcs import src < src/ilab_ur_robot.repos
   rosdep install --ignore-src --from-paths . -y -r
   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
   source install/setup.bash

NOTE: The ilab_ur_robot.repos file contains links to ros2 packages that need to be source-built to use their newest features.

Usage

The package comes with a general purpose launch file, which can be run using

$ ros2 launch ilab_ur_bringup ilab_ur.launch.py

Several launch arguments can be used to adapt the launch. These arguments can be shown by running

ros2 launch ilab_ur_bringup ilab_ur.launch.py --show-args

For example, to start the UR real robot with Moveit2 planning and Rviz2, run

ros2 launch ilab_ur_bringup ilab_ur.launch.py use_fake_hardware:=false use_planning:=true start_rviz:=true robot_ip:=172.16.0.3