ARQ UR5 Package

ROS programs to use UR5 in ARQ lab.

Moveit and RViz

You can use MoveIt and RViz in real or in simulation.

Running with Allegro hand

First, the computer should be connected to the robot.

You need the allegro-hand-ros, allegro_hand_kdl and ur5_allegro_moveit packages. The following set of commands will connect to the real robot and start the drivers, launch MoveIt and RViz and add the collision objects to scene. It is your responsibility to confirm the configuration of collision objects, the default scene may be outdated.

The following starts the drivers and loads some necessary parameters for MoveIt:

roslaunch ur5_allegro_moveit ur5_allegro_bringup.launch robot_ip:=177.22.22.11

Then you can start MoveIt and RViz as below:

Tip: You can create a custom launch file for your needs at this step

roslaunch arq_ur5 moveit_rviz.launch allegro:=true

Finally, the collision object must be added to work safely on the real robot. An example collision scene can be loaded as follows:

roslaunch arq_ur5 load_scene.launch scene:=bimanual_computers

Then, you can run your own moveit control program. MoveIt move group names for different parts of the system are ur5_arm, allegro_finger0, allegro_finger1, allegro_finger2, allegro_finger3.

For safety, it is recommended to decrease the maximum velocity parameter of MoveIt. In C++:

move_group->setMaxVelocityScalingFactor(0.05);

In Python:

move_group.set_max_velocity_scaling_factor(0.05);

Optionally, you can load the robot without the optoforce fingertips using optoforce arg:

roslaunch ur5_allegro_moveit ur5_allegro_bringup.launch robot_ip:=177.22.22.11 optoforce:=false

Simulation with Allegro Hand

In order to run MoveIt and Allegro Hand KDL controllers together in a simulation, you can run the following instead of the above commands:

roslaunch allegro_hand_kdl allegro_torque.launch sim:=true RVIZ:=false
roslaunch ur5_allegro_moveit demo.launch
roslaunch arq_ur5 load_scene.launch scene:=bimanual_computers

Simulation doesn't include physics. It is just RViz and fake controllers.

Adding collision objects

Simply run the load_scene.launch file to add predefined collision objects into the scene.

roslaunch arq_ur5 load_scene.launch scene:=my_scene

Here, my_scene is the name of the .scene file in the arq_ur5/scenes folder. If you want to use the default scene file for the bimanual platform, you can omit the scene parameter as follows:

roslaunch arq_ur5 load_scene.launch

This will load the arq_ur5/scenes/bimanual.scene by default.