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prl_ur5_description package from prl_ur5_robot repoprl_ur5_control prl_ur5_demos prl_ur5_description prl_ur5_gazebo prl_ur5_moveit_config prl_ur5_robot prl_ur5_run |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | MIT |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/inria-paris-robotics-lab/prl_ur5_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-05 |
| 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
prl_ur5_description provides a description of the UR5 bimanual robot from the Inria Paris Robotics Lab
Additional Links
Maintainers
- Igor Kalevatykh
Authors
- Igor Kalevatykh
prl_ur5_description
This package provides a description of the UR5 bimanual robot from the Inria Paris robotics laboratory.
Setup
For different experiments, the robot can be equipped with different grippers and sensors. To simplify the modification of the description, all changeable parameters are placed in separate setup files in the prl_ur5_robot_configuration package. (Each setup file contains a list of used devices and calibration parameters. The calibration parameters contain the positions of the arms, grippers, sensors, and kinematic parameters of UR5 arms.) UR5 factory calibrations were obtained using the ur_calibration package.
Available setups:
-
standart_setup: setup with OnRobot gripper and RealSense camera on each arm.
Launch files
To upload the description to the parameter server use:
roslaunch prl_ur5_description upload.launch setup:=standart_setup
To debug the description in rviz use:
roslaunch prl_ur5_description test.launch setup:=standart_setup
URDF
Xacro URDF macros located in the urdf/ directory.
To generate URDF file for the robot with a setup setup_name use:
xacro `rospack find prl_ur5_description`/urdf/prl_ur5_robot.urdf.xacro [setup:=setup_name] > prl_ur5_robot.urdf
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
| Deps | Name |
|---|---|
| catkin | |
| onrobot_description | |
| realsense2_description | |
| robotiq_ft_sensor | |
| ur_description | |
| xacro | |
| prl_ur5_robot_configuration | |
| gazebo_ros_control_select_joints |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/upload.launch
-
- setup [default: standart_setup] — The setup name. The setup name must match the file name in the config/setup/ directory.
- table [default: false] — Add or not the table model to the URDF.
- backwall [default: true] — Add or not the backwall model to the URDF.
- leftwall [default: true] — Add or not the leftwall model to the URDF.
- sensors [default: false] — Turn on cameras and sensors in gazebo
- gz_sim [default: false] — Is the model used for a gazebo simulation
- velocity_control [default: false] — Position or Velocity control of the joints
- launch/test.launch
-
- setup [default: standart_setup] — The setup declares used grippers and sensors and calibration parameters. The setup name must match the file in the config directory.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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