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Yaesol Kim edited this page Dec 8, 2021 · 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 Universal_Robots_ROS_Driver following instructions here.
  4. Install robotiq ros driver following instructions provided(https://github.com/ros-industrial/robotiq).
  5. Install moveit

Build and Compile

  1. Create a catkin workspace and clone this repository
$ mkdir robot_ws && cd robot_ws && mkdir src
$ catkin_init_workspace
$ cd src
$ git clone https://github.com/ros-industrial/robotiq.git
$ git clone https://github.com/ros-controls/ros_controllers.git
$ git clone https://github.com/yaesolKim/dual_ur_robotiq.git
  1. Install the dependencies
$ cd ..
$ rosdep update
$ rosdep install --from-paths src/ --ignore-src --rosdistro melodic
  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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