{"id":22419914,"url":"https://github.com/ravijo/ur_pilz_demo","last_synced_at":"2025-10-15T22:31:01.182Z","repository":{"id":203692289,"uuid":"710194853","full_name":"ravijo/ur_pilz_demo","owner":"ravijo","description":"Demonstration of Pilz Industrial Motion Planner in MoveIt with Universal Robots","archived":false,"fork":false,"pushed_at":"2023-11-02T06:16:28.000Z","size":1040,"stargazers_count":6,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2024-12-05T16:17:05.241Z","etag":null,"topics":["moveit","moveit2","pilz-industrial-motion-planner","ros2","universal-robots","ur-robot"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ravijo.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2023-10-26T08:00:07.000Z","updated_at":"2024-11-26T10:09:47.000Z","dependencies_parsed_at":null,"dependency_job_id":"e8072a16-dd3b-47d5-8269-57e5e0edb0a1","html_url":"https://github.com/ravijo/ur_pilz_demo","commit_stats":null,"previous_names":["ravijo/ur_pilz_demo"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ravijo%2Fur_pilz_demo","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ravijo%2Fur_pilz_demo/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ravijo%2Fur_pilz_demo/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ravijo%2Fur_pilz_demo/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ravijo","download_url":"https://codeload.github.com/ravijo/ur_pilz_demo/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":236646158,"owners_count":19182608,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["moveit","moveit2","pilz-industrial-motion-planner","ros2","universal-robots","ur-robot"],"created_at":"2024-12-05T16:17:07.573Z","updated_at":"2025-10-15T22:30:55.833Z","avatar_url":"https://github.com/ravijo.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ur_pilz_demo\nDemonstration of Pilz Industrial Motion Planner in MoveIt with Universal Robots\n\n\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"docs/demo.gif\" alt=\"gif showing demo of ur_pilz_demo\" /\u003e\n    \u003c/br\u003e\n    \u003csup\u003eSample video showing demonstration on RViz\u003c/sup\u003e\n\u003c/p\u003e\n\n\n## Dependencies\n* [MoveIt 2](https://moveit.ros.org/install-moveit2/binary/): Install using the following command: \n    ```console\n    $ sudo apt install ros-${ROS_DISTRO}-moveit\n    ```\n* [Universal Robots ROS2 Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver): Install using the following commands: \n    ```console\n    $ sudo apt install ros-${ROS_DISTRO}-ur-robot-driver\n    $ sudo apt install ros-${ROS_DISTRO}-ur-moveit-config\n    ```\n* [MoveIt Visual Tools](https://github.com/ros-planning/moveit_visual_tools): Install using the following command: \n    ```console\n    $ sudo apt install ros-${ROS_DISTRO}-moveit-visual-tools\n    ```\n\n\n## Compilation\n1. Make sure to download complete repository. Use `git clone` or download zip as per convenience.\n2. Invoke `colcon` tool inside ros workspace i.e., `colcon build`\n\n\n## Steps to run\n1. Start UR ROS 2 driver in simulation mode by using the following command:\n    ```console\n    $ ros2 launch ur_robot_driver ur3e.launch.py robot_ip:=yyy.yyy.yyy.yyy \\\n      use_fake_hardware:=true launch_rviz:=false \\\n      initial_joint_controller:=scaled_joint_trajectory_controller\n    ```\n2. Invoke the demo by using the following command:\n    ```console\n    $ ros2 launch ur_pilz_demo ur_pilz.launch.py \n    ```\n\n\n## Note\nThis package has been tested on the following environment configuration-\n\n| Name                         | Value                                  |\n| ---------------------------- | -------------------------------------- |\n| ROS                          | Humble                                 |\n| MoveIt 2                     | 2.5.5-1                                |\n| Universal Robots ROS2 Driver | 2.2.9-1                                |\n| MoveIt Visual Tools          | 4.1.0-1                                |\n| OS                           | Ubuntu 22.04.3 LTS (64-bit)            |\n| Kernel                       | Version 6.2.0-35-generic               |\n| GCC                          | Version 11.4.0                         |\n| Python                       | Version 3.10.12                        |\n| RAM                          | 8 GB                                   |\n| Processor                    | Intel® Core™ i7-7700 CPU @ 3.60GHz × 8 |\n\n\n## Issues (or Error Reporting) \nPlease check [here](https://github.com/ravijo/ur_pilz_demo/issues) and create issues accordingly.\n\n\n## References\n* [MoveIt Resources](https://github.com/ros-planning/moveit_resources)\n* [Universal Robots ROS2 Description](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description)\n* [Universal Robots ROS2 Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)\n\n  \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fravijo%2Fur_pilz_demo","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fravijo%2Fur_pilz_demo","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fravijo%2Fur_pilz_demo/lists"}