prl_ur5_robot

ROS stack for the bimanual UR5 robot

Components

• prl_ur5_run: the starting point.
• prl_ur5_description: robot’s URDF description.
• prl_ur5_control: physical robot control.
• prl_ur5_gazebo: simulated robot control.
• prl_ur5_moveit_config: MoveIt! configuration.
• prl_ur5_demos: demo scripts.

Start robot

In order to be able to start the robot (in sim or real), you need to setup some environment variable in your terminal:

source /opt/ros/noetic/setup.bash # ONLY IF YOU ARE USING ROS FROM APT
source ~/catkin_ws/devel/setup.bash # Make ros able to find packaged that you build manually (using catkin)

source ~/catkin_ws/src/prl_ur5_robot_configuration/script/setup_env.bash # To have the robot specific configurations

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”

Run demos

See instructions here.

Using with docker

See instructions here.

Install from sources

The following section contains instructions that can be specific to apt or conda.

1. Install Noetic ROS version (Desktop-Full Install recomended):

1. Make sure that ROS is correctly sourced:

1. Install wstool and rosdep:

1. Make a folder for catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws

1. Clone the repo, (automatically) clone the depencies that needs to be installed from source and install the other dependencies:

git clone -b master https://github.com/inria-paris-robotics-lab/prl_ur5_robot src/prl_ur5_robot
wstool init src ./src/prl_ur5_robot/prl_ur5_robot.rosinstall
rosdep update
rosdep install --from-paths src --ignore-src --skip-keys=python-pymodbus -r -y

1. Get the robot configuration:
   • Option 1 : Clone the repo in your catkin workspace:

git clone -b master https://github.com/inria-paris-robotics-lab/prl_ur5_robot_configuration src/prl_ur5_robot_configuration

• Option 2 : Create a symbolic link to an already existing configuration folder:

ln -s /path/to/existing/folder src/prl_ur5_robot_configuration

1. Init the workspace:

catkin config --blacklist robotiq_3f_gripper_articulated_gazebo_plugins

1. Build everything

catkin build

1. [optionnal - only for APT] Add a link to setup in your bashrc:

1. Setup local ros environment variables

source ~/catkin_ws/devel/setup.bash
source ~/catkin_ws/src/prl_ur5_robot_configuration/script/setup_env.bash

1. Set custom environment variables (for log files):

export PRL_LOG_PATH=/my/log/path

Known issues