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Yaesol Kim edited this page Jan 10, 2022 · 52 revisions

Testing environment

Unbuntu 18.04 with ROS melodic, RT kernel version 5.2.21
Other implementation details

Prerequisites

  1. Install Ubuntu and install real-time kernel.
  2. Install ROS following instructions provided here.
  3. Install moveit following instructions provided here.

Build and Compile

  1. Create a catkin workspace and clone this repository
# source global ros
$ source /opt/ros/melodic/setup.bash

$ mkdir -p robot_ws/src && cd robot_ws
$ git clone https://github.com/yaesolKim/robotiq.git src/robotiq
$ git clone https://github.com/EwhaGlab/dual_ur_robotiq.git src/dual_ur_robotiq
$ git clone https://github.com/yaesolKim/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
  1. Install the dependencies
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y
  1. Build the workspace
$ catkin_make
  1. 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

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

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