UR5 Light Painting Demo

Installation

Clone this repo. Clone the UR2 package and follow the full installation instructions there.

https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver

NOTE: For help regarding the driver see Universal_Robots_ROS2_Driver.

Build

colcon build --symlink-install

Running A Simulation

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false

ros2 launch light_painting_demo ur_moveit_cpp.launch.py ur_type:=ur5e robot_ip:="xxx.xxx.xxx.xxx" use_fake_hardware:=true launch_rviz:=true

Running on Hardware

Collision object representing the table and the wall behind the robot in the office are added to the planning scene. The robot will move to the first waypoint in the string MoveIt2, pause, and then complete the writing.

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy launch_rviz:=false

ros2 launch light_painting_demo ur_moveit_cpp.launch.py ur_type:=ur5e robot_ip:="xxx.xxx.xxx.xxx" launch_rviz:=true

Adding a new image

Save a 1000-pixel by 1000-pixel image to /resources for future reference. The waypoints you want should be in the middle-ish.

You can easily edit the image and get X/Y coordinates at this website: https://jspaint.app

Save the key point X/Y coordinates from the image to /resources/whatever_name.yaml. The upper left corner of the image is (0, 0)