Collection of packages for using simulated and real universal robots manipulators with Robotiq grippers. This repo uses git submodules, so after cloning the repo you need to update the submodules:
git submodule update --initThen, install all of the dependencies using rosdep:
rosdep install --from-paths src --ignore-src -r -yClone the universal_robot repo, specifically the calibration_devel branch to make use of the new calibration parameters that yield higher accuracy motions:
git clone -b calibration_devel https://github.com/fmauch/universal_robot.gitFirst start the docker container (docker_image and instructions in uncalibrated_grasping/docker/melodic_ur_robotiq) Use tmux (or any other teminal splitter) to open 3 terminals and run the following (in this order, waiting for each to complete):
roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.90.158 limited:=true info:=trueroslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch limited:=true info:=trueroslaunch ur5_e_moveit_config moveit_rviz.launch config:=true[launch robot in gazebo]
roslaunch ur_e_gazebo ur5e_joint_limited.launchroslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch limited:=true info:=true sim:=trueroslaunch ur5_e_moveit_config moveit_rviz.launch config:=trueIf using tmux Ctrl-b followed by " will split the current terminal window vertically, and Ctrl-b followed by up and down arrow keys enable you to move about the different terminal windows.
Next, on the UR5e Teach Pendant, start the external_control program (enabling control from external sources) TODO: Include image
Now, you can use the standard MoveIt interface to control the arm :)
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Major opcode of failed request: 154 (GLX)
Minor opcode of failed request: 6 (X_GLXIsDirect)
Serial number of failed request: 35
Current serial number in output stream: 34