ridgeback_ur5_controller

This package implements an admittance controller on the ridgeback+UR5 platform. It also provides a cartesian velocity controller (ros control) for the UR5 arm.

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compliation and build

Clone the repository intor your catkin source directory

$ cd ~/catkin_ws/src
$ git clone [email protected]:epfl-lasa/ridgeback_ur5_controller.git

Get the source dependencies using wstool

$ wstool init
$ wstool merge ridgeback_ur5_controller/dependencies.rosinstall
$ wstool up

Get the package dependencies using rosdep

$ rosdep install -y --from-paths src --ignore-src --rosdistro indigo

You also need the following ros packages

$ sudo apt-get install ros-indigo-ridgeback-*
$ sudo apt-get install ros-indigo-universal-robot

if you are getting error for broken packages (most probably due to a wrong version of gazebo), you can use 'aptitude' instead of 'apt-get' which propose a solution and resolve the conflict.

Finally complie

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ catkin_make

• you might need the source the bash file and compie again if the first compliation could not find some of in house dependencies.

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Running the controller

To bring up the robot in simulation run

roslaunch cpr_bringup cpr_bringup.launch
roslaunch admittance_control admittance_controller.launch

For the real robot launch on the CPR main PC run

roslaunch cpr_bringup cpr_bringup.launch sim:=false
roslaunch admittance_control admittance_controller_real.launch