Universal Robot - gkgkgk1215/else GitHub Wiki
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UR official https://github.com/ros-industrial/universal_robot
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ROS official https://github.com/ros-industrial/universal_robot
# source global ros
$ source /opt/ros/<your_ros_version>/setup.bash
# create a catkin workspace
$ mkdir -p catkin_ws/src && cd catkin_ws
# clone the driver
$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
# clone the description. Currently, it is necessary to use the melodic-devel branch.
$ git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot
# install dependencies
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y
# build the workspace
$ catkin_make
# activate the workspace (ie: source it)
$ rospack profile
$ source devel/setup.bash
Launch UR5 visualizer
$ roslaunch ur_description view_ur5.launch
Simple Python script to write URDF file.
import rospy
string = rospy.get_param('/robot_description') #should return 1
file = open("ur5.urdf", "w")
file.write(string)
file.close()
- UR RTDE module
- Python Install: https://pypi.org/project/ur-rtde/
- Documentation: https://sdurobotics.gitlab.io/ur_rtde/examples/examples.html