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Yaesol Kim edited this page Dec 3, 2021 · 52 revisions

Yaesol's environment

PC: Unbuntu 18.04 with ROS melodic, RT kernel version 5.2.21
Router: ipTIME T5008

IP address:

left arm: 192.168.1.21
right arm: 192.168.1.22

left finger: 192.168.1.11
right finger: 192.168.1.12

Prerequisites

  1. Install Ubuntu and install real-time kernel.
  2. Install ROS following instructions provided here.
  3. Install Universal_Robots_ROS_Driver following instructions here.
  4. Install robotiq ros driver following instructions provided(https://github.com/ros-industrial/robotiq).
  5. Install moveit

create a catkin workspace

$ mkdir -p catkin_ws/src && cd catkin_ws/src

clone this driver

$ git clone https://github.com/yaesolkim/dual_arm.git

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)

$ source devel/setup.bash

Enables UR5e robot remote control

I tried to follow the UR ROS package description (here), but robot PC keep shows "external control connection refused". Instead of using this method, I followed the method here.

Network Setup

  1. Router Setup
  2. ROS_MASTER PC Setup
  3. UR5e Setup

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