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https://github.com/ravijo/ur_pilz_demo
Demonstration of Pilz Industrial Motion Planner in MoveIt with Universal Robots
https://github.com/ravijo/ur_pilz_demo
moveit moveit2 pilz-industrial-motion-planner ros2 universal-robots ur-robot
Last synced: 29 days ago
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Demonstration of Pilz Industrial Motion Planner in MoveIt with Universal Robots
- Host: GitHub
- URL: https://github.com/ravijo/ur_pilz_demo
- Owner: ravijo
- License: mit
- Created: 2023-10-26T08:00:07.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2023-11-02T06:16:28.000Z (about 1 year ago)
- Last Synced: 2023-11-02T07:26:01.411Z (about 1 year ago)
- Topics: moveit, moveit2, pilz-industrial-motion-planner, ros2, universal-robots, ur-robot
- Language: Python
- Homepage:
- Size: 1020 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# ur_pilz_demo
Demonstration of Pilz Industrial Motion Planner in MoveIt with Universal Robots
Sample video showing demonstration on RViz
## Dependencies
* [MoveIt 2](https://moveit.ros.org/install-moveit2/binary/): Install using the following command:
```console
$ sudo apt install ros-${ROS_DISTRO}-moveit
```
* [Universal Robots ROS2 Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver): Install using the following commands:
```console
$ sudo apt install ros-${ROS_DISTRO}-ur-robot-driver
$ sudo apt install ros-${ROS_DISTRO}-ur-moveit-config
```
* [MoveIt Visual Tools](https://github.com/ros-planning/moveit_visual_tools): Install using the following command:
```console
$ sudo apt install ros-${ROS_DISTRO}-moveit-visual-tools
```
## Compilation
1. Make sure to download complete repository. Use `git clone` or download zip as per convenience.
2. Invoke `colcon` tool inside ros workspace i.e., `colcon build`
## Steps to run
1. Start UR ROS 2 driver in simulation mode by using the following command:
```console
$ ros2 launch ur_robot_driver ur3e.launch.py robot_ip:=yyy.yyy.yyy.yyy \
use_fake_hardware:=true launch_rviz:=false \
initial_joint_controller:=scaled_joint_trajectory_controller
```
2. Invoke the demo by using the following command:
```console
$ ros2 launch ur_pilz_demo ur_pilz.launch.py
```
## Note
This package has been tested on the following environment configuration-
| Name | Value |
| ---------------------------- | -------------------------------------- |
| ROS | Humble |
| MoveIt 2 | 2.5.5-1 |
| Universal Robots ROS2 Driver | 2.2.9-1 |
| MoveIt Visual Tools | 4.1.0-1 |
| OS | Ubuntu 22.04.3 LTS (64-bit) |
| Kernel | Version 6.2.0-35-generic |
| GCC | Version 11.4.0 |
| Python | Version 3.10.12 |
| RAM | 8 GB |
| Processor | Intel® Core™ i7-7700 CPU @ 3.60GHz × 8 |
## Issues (or Error Reporting)
Please check [here](https://github.com/ravijo/ur_pilz_demo/issues) and create issues accordingly.
## References
* [MoveIt Resources](https://github.com/ros-planning/moveit_resources)
* [Universal Robots ROS2 Description](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description)
* [Universal Robots ROS2 Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)