Controller for the UR10e using the RTDE Libraries https://sdurobotics.gitlab.io/ur_rtde/api/api.html
- ROS Noetic
- Eigen3
- ur_rtde
-
Clone the Repository inside the
catkin_ws
:cd ~/catkin_ws/src git clone [email protected]:ARSControl/ur_rtde_controller.git
-
Install the RTDE Libraries
sudo add-apt-repository ppa:sdurobotics/ur-rtde sudo apt-get update sudo apt install librtde librtde-dev
-
Install Python Requirements:
pip install -r ../path/to/this/repo/requirements.txt
-
Build your workspace
cd ~/catkin_ws catkin_make
The Kinematics Libraries are already available for the following robots:
- CB3 Series (UR3, UR5, UR10)
- e-Series (UR3e, UR5e, UR10e, UR16e)
If you want to add a new robot, follow these steps:
-
Install
invoke
:pip install invoke
-
Create the Kinematic Source Files in
src/kinematic/robot_name_kinematic
:compute_robot_name_direct_kinematic.cpp
compute_robot_name_jacobian.cpp
compute_robot_name_jacobian_dot_dq.cpp
-
Use https://github.com/ARSControl/robot_kinematic to generate the Robot Kinematic Source Files (Little Manual Edit is Needed).
-
Edit the
src/kinematic/tasks.py
build file adding the new source and destination path. -
Build the Robot Kinematic Library:
cd path/to/package/src invoke build
-
Add the new libraries to the
scripts/kinematic_wrapper
script file.
-
Set the UR Control Mode to
Remote
on the TP -
To use the RobotiQ Gripper remember to Activate it from the TP
UR+
Interface -
Launch RTDE Controller
roslaunch ur_rtde_controller rtde_controller.launch ROBOT_IP:=192.168.xx.xx enable_gripper:=true/false