ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

Repository Summary

Checkout URI https://github.com/zitongbai/ur_project_ros2.git
VCS Type git
VCS Version main
Last Updated 2024-04-27
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)

README

THIS REPO IS STILL UNDER DEVEL AND UNSTABLE

项目仍在开发中,不保证稳定性

ur_project_ros2

The application of ur robots, robotiq gripper, realsense camera, etc.

To find more infomation (installation, usage), visit wiki

Structure

  • robot_setup: robot description, moveit config, simulation env setup, etc.
    • ur_robotiq_rs: ur manipulator with a robotiq gripper and a realsense camera in its end effector
    • dual_ur_robotiq_rs: dual ur_robotiq_rs
    • vision: vision tools to detect objects, estimate pose, etc.
  • tasks:
    • pick_and_place use moveit to plan a path to the given pose, grasp the obj.
    • find_hole use ft sensor.
    • dual_plan plan and execute dual arms at the same time.
  • libs: third-party tools, plugins, etc.

Temp note

create new task package:

ros2 pkg create ${task_name} --build-type ament_cmake --node-name ${task_name} --dependencies rclcpp moveit_core moveit_ros_planning_interface moveit_common moveit_ros_planning tf2 rclcpp_action rclcpp_components control_msgs ${robot_pkg}

CONTRIBUTING

No CONTRIBUTING.md found.

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository

ur_project_ros2 repository