Settings once and for all

On ROS Computer

• Follow install instructions : https://github.com/UniversalRobots/Universal_Robots_ROS_Driver
• Install https://github.com/ros-industrial/robotiq
• Install https://github.com/filesmuggler/robotiq.git as robotiq_des

On Communication Interface (UR Tablet)

install external_control URCap

install rs485 URCap (and remove *Gripper* Cap if present or it will overide rs485 user com)

On Communication Interface (UR Tablet), go on Installation -> General -> Tool I/O and select Controlled by "User" with the following settings :

• Baud Rate : 115200

• Parity : None

• Stop Bits : One

• RX Idle Chars : 1.5

• TX Idle Chars : 3.5

• Tool Output Voltage : 24V

• In "Installation", click on "External Control" and set the IP address of the computer connected to the arm controller

After each robot power on

Connection

• Communication avec le controlleur du bras

  # Changer IP si besoin
  roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.210 use_tool_communication:=true tool_voltage:=24 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1 tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR

• Communication Interface (UR Tablet), click below on "Play" and execute the external_control program

Gripper

• Run Gripper controller

  rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /tmp/ttyUR

• Run Gripper action controller

  roslaunch robotiq_2f_gripper_action_server robotiq_2f_gripper_action_server.launch

• Run Gripper action client

  # OPTIONAL (if you move gripper with a terminal)
  rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py 
  # To Open/Close the gripper, first do Reset and Activate

MoveIt!

• Run Gripper controller

  roslaunch lyontech_ur5e_rq85_moveit move_group.launch sim:=false

• Joint State Publisher

  rosrun lyontech_ur5e_rq85_moveit gripper_joint_state_publisher.py

Warning

Premier terminal : Joint state with name: "robotiq_85_left_knuckle_joint" was received but not found in URDF

Poses

UR5_HOME = [2.8631818930255335, -1.7248722515501917, 1.594343662261963, 4.97259949424819, 3.1274194717407227, -1.6482189337359827]

UR5_GROUND_PREGRASP = [2.464851204548971, -1.2727511686137696, 1.1997385025024414, 3.421120806331299, 4.731529712677002, -0.3448084036456507]

UR5_SWIFT_BEGIN = [1.896212402974264, -0.01641757905993657, 2.2380855083465576, 4.385730429286621, 1.7052478790283203, -3.1222007910357874]

UR5_SWIFT_WIDE_BEGIN = [1.3198631445514124, -0.04147584856066899, -0.23618823686708623, 4.982526051789083, 4.531479358673096, -3.1214564482318323] UR5_SWIFT_WIDE_END = [1.3197792212115687, -0.04314811647448735, 2.455706834793091, 4.982369887619772, 4.531479358673096, -3.1214922110186976]

#UR5_HOME = [-2.848045825958252, -1.5073298972896119, -1.5940831343280237, 4.286331339473389, 3.1632704734802246, -1.1094048658954065] #UR5_GROUND_PREGRASP = [-2.5319504737854004, -1.9292541942992152, -1.3101943174945276, 6.0935613987739465, 1.521726131439209, 0.503899335861206]

To sort ....

top position: [0.9126341978656214, -2.056477209130758, -4.931894604359762, -0.40775545061145024, 1.5036263465881348, 0.6962385177612305]

prepose position: [1.233441177998678, -1.1601807636073609, -4.737365786229269, -0.04734094560656743, 0.6254684925079346, 0.45262598991394043]

pose position: [1.233441177998678, -1.1601807636073609, -4.737365786229269, -0.04734094560656743, 0.6254684925079346, 0.45262598991394043]

postpose position: [1.3934114615069788, -1.2207154792598267, -4.835902039204733, -0.46023281038317876, 0.3820152282714844, 0.6931338310241699]