arm_operation package

Dependencies

• ROS Melodic
• Qt5
• Moveit
• Universal_Robot_Client_Library
• Universal_Robot_ROS_Driver
• universal_robot

Building

Clone this repo into your workspace

$ cd ~/path/to/your/ws/src && git clone -b e_series https://github.com/sean85914/arm_operation.git
$ rosdep install --from-paths src --ignore-src -r -y
$ cd ~/path/to/your/ws && catkin_make && source devel/setup.bash

ROS Node:

urX_control_server (Currently support UR5e)

• Advertise some useful services for controlling the robot, such as set TCP link of the robot arm to user given cartesian/joint pose, etc.
  • Services
    • ~ur_control/goto_pose
    • ~ur_control/linear_move
    • ~ur_control/goto_joint_pose
    • ~ur_control/velocity_control
      Note This is not real velocity control (speedl or speedj in URScript), but using position control to simulate velocity control
  • Subscribed Topics
    • ~joint_states
  • Published Topics
    • ~det Current robot Jacobian matrix determinant
    • ~pose Current TCP pose
  • Parameters
    • ~tool_length (double): length from end effector to TCP, default is 0.0
    • ~tf_prefix (string): joint name prefix, default is ""
    • ~action_server_name (string): action server name for trajectory control
    • ~maximum_speed (dict): allowed joint maximum speed

Message Type:

• joint_value.msg
  • float32[6] joint_value

Service Type:

• joint_pose.srv
  • Request:
    • arm_operation/joint_value target_joint
  • Response:
    • (string) plan_result
• target_pose.srv
  • Request:
    • geometry_msgs/Pose target_pose
    • (float32) factor: executation speed factor, the smaller the faster
  • Response:
    • (string) plan_result
• velocity_ctrl.srv
  • Request:
    • geometry_msgs/Twist twist
    • (float32) duration: How long should this twist apply
    • (bool) frame: true for ee_link, false for base_link
  • Response:
    • (string) plan_result

Use for Real Robot

For real robot, follow the preparation in here, conect the Ethernet cable to your PC and run

$ roslaunch arm_operation urX_real.launch robot_ip:=[ur_robot_ip]

Use for Robot in Simulation

[TODO]

TODO

• Fix velocity control link in real robot
• Implement real velocity control