Universal Robots & RG2 gripper

• Universal Robots & RG2 gripper
  • SETUP, COMPILE AND SOURCE (example)
  • LAUNCH WORLD
  • LAUNCH ROBOT
  • LAUNCH MOVEIT2 SETUP
  • LAUNCH MOVEIT2 COMMANDER
  • Other important things
  • DOCKER:
  • REFERENCES

SETUP, COMPILE AND SOURCE (example)

sudo apt update
sudo apt install ros-humble-moveit* -y
cd ~/ros2_ws
colcon build
source install/setup.bash

LAUNCH WORLD

Launch the world of your choice, but set this env variable first

export IGN_GAZEBO_RESOURCE_PATH=IGN_GAZEBO_RESOURCE_PATH:/opt/ros-gz/install/ros_gz_sim_demos/share:/home/asimovo/install/rg2_description/share:/home/asimovo/install/rg2_description/share/rg2_description/meshes:/home/asimovo/install/rg2_description/share/rg2_description/models

ros2 launch maze_world launch_maze_world.launch.py cloud:=false

LAUNCH ROBOT

ros2 launch ur_simulation_gz my_sim_control.launch.py ur_type:=ur3e description_file:=my_rg2.urdf.xacro gazebo_gui:=false launch_rviz:=false

LAUNCH MOVEIT2 SETUP

ros2 launch my_moveit_config move_group.launch.py

LAUNCH MOVEIT2 COMMANDER

ros2 launch moveit2_scripts test_trajectory.launch.py

Other important things

The file master.launch.py is a launch file that launches all the previous files in one go. It is suggested to check it out for a better understanding.

Add an object to the simulation

ros2 run ros_gz_sim create -file object.urdf -name "object" -x 0.31 -y 0.13 -z 0.1

DOCKER:

Build the image

sudo docker build -f docker-development -t docker-development .
sudo docker run --rm -it -p 11311:11311 -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix docker-development:latest bash

Or use docker compose

docker-compose -f docker-compose-development.yml up --build
docker exec -it development_container /bin/bash

REFERENCES

• https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/
• https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
• https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation