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ur_project_ros2 repositorydual_ur_robotiq_rs_description ur_ft_description ur_robotiq_rs_description dual_plan find_hole pick_and_place |
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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) |
Packages
Name | Version |
---|---|
dual_ur_robotiq_rs_description | 0.0.0 |
ur_ft_description | 0.0.0 |
ur_robotiq_rs_description | 0.0.0 |
dual_plan | 0.0.0 |
find_hole | 0.0.0 |
pick_and_place | 0.0.0 |
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.
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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.
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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.
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