https://github.com/oneoneliu/ur5_robot
https://github.com/oneoneliu/ur5_robot
Last synced: 22 days ago
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- Host: GitHub
- URL: https://github.com/oneoneliu/ur5_robot
- Owner: OneOneLiu
- Created: 2024-05-24T14:53:22.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2025-06-26T02:51:38.000Z (12 months ago)
- Last Synced: 2025-06-26T03:32:58.873Z (12 months ago)
- Language: Python
- Size: 18.6 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# UR5 robot
## Overview
This ROS package is specifically designed for controlling the UR5 robot. It includes functionalities for operating the actual UR5 robot through a `ROS` node. The main features of this package are initiating a ROS node to manage the UR5 robot's movements and configurations, leveraging the capabilities of the `moveit` Python interface.
## Features
- **Launch File**: The `real_robot.launch` file is a modified version of an existing official launch file. It includes the real robot's IP address and the necessary configuration files to connect and control the UR5 robot.
- **Python Control Class**: This repository contains a Python class for simple robot control. This class utilizes `moveit`'s Python interface to handle basic robot motions and has been installed in ROS through `setup.py`, allowing for easy use across different packages.
- **Robot Movement Services**: `move_service.py` and `move_client.py` allow for precise control of the robot's movements through service calls, enabling easy integration with other ROS packages and systems.
## Installation
Clone this repository into your catkin workspace's src directory:
```bash
cd ~/catkin_ws/src
git clone https://github.com/OneOneLiu/ur5_robot.git
```
## Usage
To use this package, ensure your UR5 robot is properly connected, and the correct IP address and configuration files are set. Modify the [`real_robot.launch`](launch/real_robot.launch) file to update the IP address and point to your specific configuration file.
Once configured, launch the node with:
```bash{.line-numbers}
roslaunch ur5_robot real_robot.launch
```