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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/spartan-velanjeri/ur-mir-mobile-manipulator.git
VCS Type git
VCS Version main
Last Updated 2024-12-08
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • luca

Authors

No additional authors.

simple_moveit2_universal_robot_movement

This repository will simply move a ur3e to a target pose. The hello_moveit_ur file is explained here: https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html

The difference to the hello_moveit file is, that there is the ur_manipulator instead of the pandas_arm used.

Requirements

I installed ROS2 Humble: https://docs.ros.org/en/humble/index.html

I installed the ROS2 UR Driver: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver

How to

Start ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.1.102 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller to connect to the Universal Robot.

Start the external control urcap on the UR to allow external control.

Start the ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true to cofigure moveit.

Start the hello_moveit_ur file with a launchfile ros2 launch hello_moveit_ur hello_moveit_ur_launch.py.

The launchfile provides the required parameters.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hello_moveit_ur at Robotics Stack Exchange

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