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prl_ur5_run package from prl_ur5_robot repo

prl_ur5_control prl_ur5_demos prl_ur5_description prl_ur5_gazebo prl_ur5_moveit_config prl_ur5_robot prl_ur5_run

API Docs
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Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description ROS stack for the bimanual UR5 robot
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 UNKNOWN
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_run is the starting point for controlling the PRL UR5 robot

Additional Links

Maintainers

  • Igor Kalevatykh

Authors

  • Igor Kalevatykh
prl_ur5_run/README.md

prl_ur5_run

This package is the starting point for controlling the PRL UR5 robot.

Start robot

To start real robot control use:

roslaunch prl_ur5_run real.launch [setup:=standart_setup] [sensors:=false] [moveit:=true] [rviz:=true] [pipeline:=ompl] [debug:=false]

To run simulation in Gazebo use:

roslaunch prl_ur5_run sim.launch [setup:=standart_setup] [sensors:=false] [gazebo_gui:=true] [moveit:=true] [rviz:=true] [pipeline:=ompl] [debug:=false]

Possible arguments:

  • setup: robot setup (details here), default=”standart_setup”
  • sensors: start sensors or not, default=”false”
  • moveit: start MoveIt or not, default=”true”
  • rviz: open RViz window or not, default=”true”
  • pipeline: MoveIt planning pipeline, default=”ompl”
  • gazebo_gui: open Gazebo GUI window or not, default=”true”
  • debug: run in the debug mode, default=”false”
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
prl_ur5_control
prl_ur5_gazebo
prl_ur5_moveit_config

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/real.launch
      • setup [default: standart_setup] — Robot setup
      • sensors [default: false] — Start sensors
      • moveit [default: true] — Start MoveIt
      • pipeline [default: ompl] — MoveIt planning pipeline
      • velocity_control [default: false] — Position or Velocity control of the joints
      • ff_control [default: false] — Trajectory of Feed-Forward control of the joints
      • debug [default: false] — Debug flag
      • rviz [default: true] — Start RViz
      • enable_left_camera [default: true] — Enable (or disable) left_camera
      • enable_right_camera [default: true] — Enable (or disable) right_camera
      • enable_alpha_camera [default: false] — Enable (or disable) alpha_camera
      • enable_bravo_camera [default: false] — Enable (or disable) bravo_camera
      • enable_charlie_camera [default: false] — Enable (or disable) charlie_camera
      • enable_delta_camera [default: false] — Enable (or disable) delta_camera
  • launch/sim.launch
      • setup [default: standart_setup] — Robot setup
      • gazebo_gui [default: true] — Open Gazebo GUI window
      • moveit [default: true] — Start MoveIt
      • rviz [default: true] — Start RViz
      • pipeline [default: ompl] — MoveIt planning pipeline
      • debug [default: false] — Debug flag
      • sensors [default: false] — Start sensors
      • velocity_control [default: false] — Position or Velocity control of the joints
      • ff_control [default: false] — Trajectory of Feed-Forward control of the joints

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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