Ur5 Control Via Programming with Python or C++
Computer Operation System:Linux Ubuntu 18.04
ROS:melodic
Usage
1.1 With real Hardware
First of all, compile workspace in the workspace root：
catkin_make
To bring up the real robot, run:
source devel/setup.bash
roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]
replace IP_OF_THE_ROBOT with XXX.XXX.XXX.XXX, depending on which IP address you have set.
CAUTION:
Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens.
1.2 MoveIt! with real Hardware
Additionally, you can use MoveIt! to control the robot.
There exist MoveIt! configuration packages for both robots.
For setting up the MoveIt! nodes to allow motion planning, open a new terminal and run in the workspace root :
source devel/setup.bash
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch
For starting up RViz with a configuration including the MoveIt! Motion Planning plugin, open a new terminal and run in the workspace root :
source devel/setup.bash
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
1.3 Programming in Python or c++
Then,you can control ur5 via programming with Python or c++
When you use python to control ur5 to a given position and attitude in Cartesian space, open a new terminal and run in the workspace root :
source devel/setup.bash
rosrun marm_planning moveit_ik_demo.py
When you use c++ to control ur5 to a given position and attitude in Cartesian space, open a new terminal and run in the workspace root :
source devel/setup.bash
rosrun marm_planning test_custom_node
2.1 Usage with Gazebo Simulation
First of all, compile workspace in the workspace root：
catkin_make
To bring up the simulated robot in Gazebo, run:
source devel/setup.bash
roslaunch ur_gazebo ur5.launch
2.2 MoveIt! with a simulated robot
Again, you can use MoveIt! to control the simulated robot.
For setting up the MoveIt! nodes to allow motion planning, open a new terminal and run in the workspace root :
source devel/setup.bash
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
For starting up RViz with a configuration including the MoveIt! Motion Planning plugin, open a new terminal and run in the workspace root :
source devel/setup.bash
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
2.3 Programming in Python or c++
Then, you can control ur5 via programming with Python or c++
When you use python to control ur5 to a given position and attitude in Cartesian space, open a new terminal and run in the workspace root :
source devel/setup.bash
rosrun marm_planning moveit_ik_demo.py
When you use c++ to control ur5 to a given position and attitude in Cartesian space, open a new terminal and run in the workspace root :
source devel/setup.bash
rosrun marm_planning test_custom_node