US_UR3

1. Connecting Universal Robot (UR3) to PC (Ubuntu 16.04)

1.1 Configure your hardware

Follow the steps on the official website "Getting Started with a Universal Robot and ROS-Industrial" to set up network using a router.

Download the repo ur_modern_driver to src in your Universal Robot workspace, and catkin_make. If there is hardware interface error during catkin make, replace ur_hardware_interface.cpp in ur_modern_driver/src or follow the instruction here

To connect your PC and an UR3, run the following launch file, (you need to source devel/setup.bash first, and go to each folder that includes the launch file to launch it)

  roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=ROBOT_IP_ADDRESS

  roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch

  roslaunch ur3_moveit_config moveit_rviz.launch config:=true

or run the launch file ur3_hardware/launch/rviz_config.launch You may need to change your joint limit file before you run any motion planning program on the hardware. (Example)

Get the joint states:

rostopic echo /joint_states

Get end effector position"

rosrun tf tf_echo /base_link /ee_link

2. Network setup of Windows and Linux

Follow the instruction ROS/NetworkSetup

2.1 Linux troubleshooting

ssh Linux failed: port 22: Connection refused solution: reinstall shh

2.2 Windows troubleshooting

set ethernet as private, which is discoverable solution.

Allow ping through the firewall ICMPv4 private (do not enable domine!!!) solution

2.3 ROS and Matlab network setting

ROS and Matlab network setting (can not recieve or publish topic)solution in Linux change permanent

gedit .bashrc

if pc is not connected to ethernet, comment out last two line of .basrc file.

3. Jog Arm

Jog arm are from the repository Tokyo Opensource Robotics Kyokai Association

3.1 Jog arm

The real time control code (Jog_ur3) are from the repository 'jog_arm' General issues can be found in the issue

3.2 catkin_make Jog control

1. clone repository fake joint
2. clone respository jog control
3. install moveit visual tools
4. catkin make ws

If there is a problem with jog_msgs:

1. Remove the jog_controller folder, and catkin_make.
2. paste the jog_controller folder back, and catkin_make.

4. Hardware Implementation

4.1 jog_arm controller issues toubleshoot

1. jogging with real UR3 #93
2. ROS controller_manager
3. Velocity streaming #218
4. Adding JointGroupVelocityControllers #224

Can not jog arm with joint_group_vel_controller, but can make it work with following solution, which pulish the joint velocity to joint_speed topic.

5. Connecting jog_arm to real UR3

4.2 jog ur3 with Xbox 360 wired controller

change the <arg name="robot_ip" default="xxx.xxx.x.x"/> in src/jog_ur3/jog_ur3/launch/hardware_standard_init.launch

cd ~/ws
source devel/setup.bash
catkin_make
roslaunch jog_ur3 ur3_hardware.launch

change linear speed in ur3_test.yaml

5. ROS-Arduino

5.1

official tutorial Generating Message Header File

After you download rosserial, to generate custom messages you should follow the following step:

  cd <your workspace>
  source devel/setup.bash
  rosrun rosserial_arduino make_libraries.py /home/<username>/arduino-1.8.5/libraries

you can check you custom message folder at /home//arduino-1.8.5/libraries/ros_lib/ur5_notebook (or ur3_hardware)

To use arduino subscribe ROS topic: Template for a ROS Subscriber Using rosserial on Arduino

1. compile /ur3_hardware/arduino_gripper/arduino_gripper.ino in Arduino IDE, and uplaod to board
2. Open a new Terminal and run initialize.roslaunch
3. Open another Terminal and start the subscriber node by typing the following command:

cd <your workspace>
source devel/setup.bash
rosrun rosserial_python serial_node.py /dev/ttyACM1

5.2 In Arduino IDE open serial monitor