** With Sensors version && Fully underactuated model of Robotiq Gripper **

======================================= Installing The Grizzly UR10 from Source

1. Clone these repositories and put them in your source directory, then catkin_make:

   git clone https://github.com/g/grizzly_ur10

   git clone https://github.com/ros-industrial/robotiq

   mv robotiq grizzly_ur10 ~/catkin_ws/your_source_directory

   cd ~/catkin_ws

   catkin_make

Everything should compile smoothly (provided you have all of the debs installed. if not, install all of them until the compiler errors go away)

======================================= Installing The Grizzly UR10 from debs

Until the ros-industrial/robotiq packages are released via debs, we recommend you install from source to prevent confusion and errors.

============================== Usage with real Hardware (Not tested yet)

There are launch files available to bringup a real Grizzly + UR10 robot. Don't forget to source the correct setup shell files and use a new terminal for each command!

To bring up the real robot, run:

roslaunch grizzly_ur10_bringup grizzly_ur10_bringup.launch robot_ip:=IP_OF_THE_ROBOT     [reverse_port:=REVERSE_PORT]

A simple test script that moves the robot to predefined positions can be executed like this:

rosrun ur_driver test_move.py

CAUTION: Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens.

============================== MoveIt! with real Hardware (Not tested yet)

Additionally, you can use MoveIt! to control the robot. There exist MoveIt! configuration packages for both robots.

For setting up the MoveIt! nodes to allow motion planning run:

roslaunch grizzly_ur10_moveit_config grizzly_ur10_moveit_planning_execution.launch

For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:

roslaunch grizzly_ur10_moveit_config moveit_rviz.launch config:=true

As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:

roslaunch grizzly_ur10_bringup grizzly_ur10_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]

roslaunch grizzly_ur10_moveit_config grizzly_ur10_moveit_planning_execution.launch limited:=true

roslaunch grizzly_ur10_moveit_config moveit_rviz.launch config:=true

=============================== Usage with Gazebo Simulation

There are launch files available to bringup a simulated robot. In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly.

Don't forget to source the correct setup shell files and use a new terminal for each command!

To bring up the simulated robot in Gazebo, run:

roslaunch grizzly_ur10_gazebo grizzly_ur10.launch

=========================================== Operating the Robotiq Gripper in Simulation

Make sure the Gazebo simulation of the Grizzly UR10 is up and running before calling this command.

If it's not, you may start it by (first make sure your workspace is sourced to devel/setup.bash if it is installed by source, or /opt/ros/${rosdistro}/setup.bash if from apt-get)

roslaunch grizzly_ur10_gazebo grizzly_ur10.launch

This command will open the gripper:

rostopic pub --oleft_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,2,1,0,0,0,0,255,0,155,0,0,255,0,0,0,0,0}

This command will close the gripper:

rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,1,1,0,0,0,255,255,0,155,0,0,255,0,0,0,0,0}

=============================== MoveIt! with a simulated robot

Have the Gazebo simulation up and running:

roslaunch grizzly_ur10_gazebo grizzly_ur10.launch

Start the trajectory execution for simulation. This will allow the controllers to move the robot and bring up move_group which accepts PlanningRequest messages.

roslaunch grizzly_ur10_moveit_config grizzly_ur10_planning_execution.launch sim:=true

Start RViz which will provide an interface to move around the arm.

roslaunch grizzly_ur10_moveit_config moveit_rviz.launch config:=true

Make sure you set the planning request to be: ur10_arm so you can control the arm. It will also have interactive markers around it. hit the "Plan and execute" button once you have selected a nice location for the arm, and by nice it means a place where there is no red.