https://github.com/vfdev-5/move_group_tutorial_ur5
MoveGroup tutorial for UR5 (python interface)
https://github.com/vfdev-5/move_group_tutorial_ur5
Last synced: about 1 year ago
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MoveGroup tutorial for UR5 (python interface)
- Host: GitHub
- URL: https://github.com/vfdev-5/move_group_tutorial_ur5
- Owner: vfdev-5
- Created: 2018-07-30T23:13:55.000Z (almost 8 years ago)
- Default Branch: master
- Last Pushed: 2018-08-05T13:53:11.000Z (almost 8 years ago)
- Last Synced: 2025-05-09T01:12:34.023Z (about 1 year ago)
- Language: Python
- Size: 9.77 KB
- Stars: 7
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# MoveIt! MoveGroup tutorial for UR5 (python interface)
Adaptation of [MoveIt! MoveGroup tutorial for Panda](https://github.com/ros-planning/moveit_tutorials/blob/kinetic-devel/doc/move_group_python_interface/)
## Installation
We need to use fixed URDF/SRDF universal_robotics package (see [here](https://github.com/ros-industrial/universal_robot/pull/284)).
Thus, we use a custom `universal_robot` repository.
```
mkdir -p ur5_ws/src && cd ur5_ws/src
git clone https://github.com/vfdev-5/universal_robot
git clone https://github.com/vfdev-5/move_group_tutorial_ur5.git
cd ../ & catkin_make
```
we need also to fix problem with `pyassimp`:
```
pip install --upgrade pyassimp
```
Install other dependencies:
```
cd ur5_ws/ && rosdep install --from-paths src --ignore-src -r -y
```
## Usage:
Terminal 1
```
cd ur5_ws && source devel/setup.bash
roslaunch ur5_moveit_config demo.launch limited:=true
```
Terminal 2
```
cd ur5_ws && source devel/setup.bash
python src/move_group_tutorial_ur5/src/move_group_tutorial_ur5.py
```