Universal Robot - gkgkgk1215/else GitHub Wiki

# 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