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7.Connecting to UR3e
Follow these instructions to connect your system to UR3e:
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In the Tablet of our manipulator, we need to run the external control program in order to pass commands to the robot. Load the ur caps program on the tablet and run it once our driver establishes the network in the next step.
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Ros Driver launch:
roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:192.168.77.21 kinematics_config:= /home/user/workspace/src/ur3e2_calib.yaml- For first time setup, we should generate a calibration file of our robot for our drivers to recognize the robot. This can be done by the helper script:
roslaunch ur_calibration calibration_correction.launch robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"-
In the above command ur3e2_calib.yaml is the calibration file that is generated, refer this page for more information.
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After this step, Terminal should show
Robot connected to reverse interface. Ready to receive control commands. This will be our ROSCORE. Any other machine in this loop will be connected to this master. -
MoveIt! is a ROS Library which is used for motion planning of manipulators, refer to this page for more information on MoveIt!.
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In another instance of terminal launch the MoveIt!:
roslaunch ur3e_moveit_config ur3e_moveit_planning_execution.launch-
After this step, the terminal should show
you can start planning now. -
In another instance of terminal launch the Rviz:
roslaunch ur3e_moveit_config moveit_rviz.launch rviz_config:=$(rospack find ur3e_moveit_config)/launch/moveit.rviz- If you are not able to launch rviz due to a display error, run the command on the native terminal and then start the process again:
xhost +local:docker - Now the manipulator is ready to take commands and execute them.