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This package enables an UR5 arm with a Robotiq 85 Gripper to be used with ros_control and MoveIt!. A Microsoft Kinect is used to create an Octomap.
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philwall3 Merge pull request #4 from ShinYuFish/patch-1
fix broken gripper joint in gazebo
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robotiq_85_gripper-master fix broken gripper joint in gazebo Dec 10, 2018
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README.md

UR5-with-Robotiq-Gripper-and-Kinect

This package enables an UR5 arm with a Robotiq 85 Gripper to be used with ros_control and MoveIt!. A Microsoft Kinect is used to create an Octomap.

It contains code from those repositories:

https://github.com/JenniferBuehler/common-sensors

https://github.com/beta-robots/robotiq

https://github.com/waypointrobotics/robotiq_85_gripper/

https://github.com/ThomasTimm/ur_modern_driver/

https://github.com/ros-industrial/universal_robot

Simulation

To start a gazebo simulation myrobot2_gazebo_simulation.launch in myrobot2_usage has to be launched with roslaunch myrobot2_usage myrobot2_gazebo_simulation.launch.

The position of the Kinect can be changed in common_sensors/urdf/sensors/kinect_properties.urdf.xacro.

real robot

In Rviz only the "Plan and Execute" button can be used to control the gripper. "Plan" and "Execute" do not work.

without ODROID

First connect the gripper to the computer. Then the gripper has to be activated. Do a roslaunch myrobot2_usage activate_gripper.launch and first enter "r" for reset and then "a" for activate. Then stop it. Now the gripper can be controlled.

Then the robot is brought up with roslaunch myrobot2_usage myrobot2_real_robot.launch.

If Kinect is used, launch it with roslaunch myrobot2_usage kinect.launch.

with ODROID

All needed packages have to be present on the ODROID.

Gripper (and Kinect) are connected to the ODROID. Then the gripper needs to be activated. Do a roslaunch myrobot2_usage activate_gripper_odroid.launch and first enter "r" for reset and then "a" for activate. Then stop it. Now the gripper can be controlled.

Then the robot is brought up with roslaunch myrobot2_usage myrobot2_real_robot_odroid.launch.

If Kinect is used, launch it with roslaunch myrobot2_usage kinect_odroid.launch.

Attention: To use roslaunch with remote machines (in this case an ODROID) the needed information in some files has to be correctly entered, otherwise it won't work. Those files are myrobot2_bringup_ros_control_odroid.launch, activate_gripper_odroid.launch, kinect_odroid.launch. Also the bash files on the computer and ODROID have to be specified, like explained here:

https://web.archive.org/web/20160112224913/http://pharos.ece.utexas.edu:80/wiki/index.php/Running_ROSNodes_in_several_robots_simultaneously_using_ROSLaunch

https://answers.ros.org/question/201415/launch-file-to-run-multiple-nodes-in-two-machines-problem-with-environment-file/

http://wiki.ros.org/roslaunch/XML/machine

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