https://github.com/ipa-rar/ur5e_cell

Moveit2 config packages for UR5e Robot
https://github.com/ipa-rar/ur5e_cell

moveit2 ros2 ur5-robot

Last synced: about 2 months ago
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Moveit2 config packages for UR5e Robot

• Host: GitHub
• URL: https://github.com/ipa-rar/ur5e_cell
• Owner: ipa-rar
• License: apache-2.0
• Created: 2022-08-05T14:29:19.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-08-21T20:08:48.000Z (4 months ago)
• Last Synced: 2024-08-21T22:21:05.480Z (4 months ago)
• Topics: moveit2, ros2, ur5-robot
• Language: Python
• Homepage:
• Size: 21.4 MB
• Stars: 2
• Watchers: 2
• Forks: 3
• Open Issues: 2
• Metadata Files:
  • Readme: Readme.md
  • License: LICENSE

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README

        
# Robot workcell description package

This package provides the workcell description of the ur5e robot, Shunk egp50 gripper, and the robot cell from ipa_326. 

````

vcs import src --skip-existing --input src/ur5e_cell/dependencies_rolling.repos

````

Build & source your workspace 

````

colcon build --symlink-install

source install/setup.bash

````

Launch the workcell

````

ros2 launch ur5e_cell_description view_ur_cell.launch.py

````

**Tip:**  To check xacro syntax during development

````

check_urdf <(xacro workcell.urdf.xacro)

````

# Real Robot Bringup

```

vcs import src --skip-existing --input src/ur5e_cell/dependencies_rolling.repos

```

This will pull necessary drivers and moveit_config packages into the workspace

Build & source your workspace 

````

colcon build --symlink-install

source install/setup.bash

````

Launch your robot driver and moveit

```

ros2 launch ur5e_cell_bringup ur5e_cell_bringup.launch.py 

```

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# Docker deployment on Real robot

Necessary for RVIZ2 

````

xhost local:root

````

Run docker container

````

docker-compose --file ~/ur_ws/src/ur5e_cell/docker/docker-compose.yaml up

````

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