ur5-moveit-example1

Code for Simulate UR5 robot in Gazebo.

Recommended System

• Ubuntu 20.04
• Python 3
• ROS Noetic

First Time using ROS on your UBUNTU

http://wiki.ros.org/noetic/Installation/Ubuntu

Don't forget to source ROS main package

source /opt/ros/noetic/setup.bash

or for long-term uses

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

requirements

sudo apt install ros-noetic-desktop-full ros-noetic-moveit ros-noetic-moveit-resources-prbt-moveit-config ros-noetic-joint-trajectory-controller

installation

1. Download zip of this repo and https://github.com/cu-asl/universal-robot-archive
2. Go to your ROS workspace or create new one by follow instruction below

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
cd src

3. Extract files from github in workspace/src
4. Use catkin_make or catkin build to create your package or

cd ~/catkin_ws
catkin_make

5. Source your workspace by

source ~/catkin_ws/devel/setup.bash

or for long-term uses

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

test

Run simulation in gazebo, you should see UR5 robot opened in Rviz and Gazebo

roslaunch ur5_data_collect_fw start_gazebo.launch

In Rviz:

In Gazebo:

To control the robot there are 2 .py files to do so, which have to chmod it before running, using:

roscd ur5_data_collect_fw
chmod +x src/*

or specify the packages location in your workspace. Then try to control by using:

rosrun ur5_data_collect_fw joint_control.py or rosrun ur5_data_collect_fw position_control.py

visualize data from sensors

There are a couple of sensors in this simulation. To visualize them, run the commands below while Gazebo and Rviz from above roslaunch is running.

1. RGB-D Camera: rosrun rqt_image_view rqt_image_view

Change to view depth image by changing signal in upper-left box to /camera/depth/image_raw

2. Force Torque Sensor: rostopic echo /ee_link2_contactsensor_state

You should see something like this in terminal when idle:

header: 
  seq: 163597
  stamp: 
    secs: 1457
    nsecs: 377000000
  frame_id: "ee_link2"
states: []
---

Or if the end effector touch something:

header: 
  seq: 162120
  stamp: 
    secs: 1168
    nsecs:  58000000
  frame_id: "ee_link2"
states: 
  - 
    info: "Debug:  i:(0/1)     my geom:robot::wrist_3_link::wrist_3_link_fixed_joint_lump__ee_link2_collision_2\
  \   other geom:unit_box::link::collision         time:1168.057000000\n"
    collision1_name: "robot::wrist_3_link::wrist_3_link_fixed_joint_lump__ee_link2_collision_2"
    collision2_name: "unit_box::link::collision"
    wrenches: 
      - 
        force: 
          x: 79.26940572202356
          y: -35.58187303449895
          z: -28.735882098653548
        torque: 
          x: -2.835562198811275
          y: 0.7579882957031993
          z: -8.760614092954796
    total_wrench: 
      force: 
        x: 79.26940572202356
        y: -35.58187303449895
        z: -28.735882098653548
      torque: 
        x: -2.835562198811275
        y: 0.7579882957031993
        z: -8.760614092954796
    contact_positions: 
      - 
        x: 0.6784500904465107
        y: 0.5476533902406753
        z: 0.32647787534256906
    contact_normals: 
      - 
        x: -0.08886207905186597
        y: -0.989431794212753
        z: -0.11457859969257896
    depths: [9.661818781364628e-05]
---