https://github.com/andy-leo10/robot_ur3e_setup
https://github.com/andy-leo10/robot_ur3e_setup
moveit2 ros2-humble ur3e-robot
Last synced: 12 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/andy-leo10/robot_ur3e_setup
- Owner: Andy-Leo10
- Created: 2024-05-07T17:59:37.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-07-12T17:15:45.000Z (almost 2 years ago)
- Last Synced: 2025-06-06T04:25:20.085Z (about 1 year ago)
- Topics: moveit2, ros2-humble, ur3e-robot
- Language: Python
- Homepage:
- Size: 269 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# robot_ur3e_setup
```
git clone https://github.com/Andy-Leo10/robot_ur3e_setup.git
```
- [robot\_ur3e\_setup](#robot_ur3e_setup)
- [Start Moveit in Simulation](#start-moveit-in-simulation)
- [Separating move group and rviz](#separating-move-group-and-rviz)
- [Start Moveit in Real Robot](#start-moveit-in-real-robot)
- [Separating move group and rviz](#separating-move-group-and-rviz-1)
- [Other configurations for the arm](#other-configurations-for-the-arm)
- [Resources](#resources)
---
SIMULATED ROBOT
## Start Moveit in Simulation
```
cd ~/ros2_ws/ ;colcon build --packages-select sim_moveit_config;source install/setup.bash
ros2 launch sim_moveit_config run_moveit.xml
```
### Separating move group and rviz
```
cd ~/ros2_ws/ ;colcon build --packages-select sim_moveit_config;source install/setup.bash
ros2 launch sim_moveit_config move_group.launch.py
```
```
cd ~/ros2_ws/ ;source install/setup.bash
ros2 launch sim_moveit_config moveit_rviz.launch.py
```
---
REAL ROBOT
## Start Moveit in Real Robot
```
cd ~/ros2_ws/ ;colcon build --packages-select real_moveit_config;source install/setup.bash
ros2 launch real_moveit_config run_moveit.xml
```
### Separating move group and rviz
```
cd ~/ros2_ws/ ;colcon build --packages-select real_moveit_config;source install/setup.bash
ros2 launch real_moveit_config move_group.launch.py
```
```
cd ~/ros2_ws/ ;source install/setup.bash
ros2 launch real_moveit_config moveit_rviz.launch.py
```
---
More info
## Other configurations for the arm
```
ros2 launch moveit_setup_assistant setup_assistant.launch.py
```
---
Resources
## Resources
Orientation Constraint (doesn't work):
- https://moveit.picknik.ai/main/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.html
- https://docs.picknik.ai/en/4.0.1/how_to/application_how_tos/orientation_constrained_planning/orientation_constrained_planning.html
---