UR_Robotiq/README.md

UR Robotiq

This project provides tools and integration to manage a Universal Robotics UR3e robot arm with the Robotiq 2F 140 gripper.

How to Download (with Submodules)

To download this repository and all of its included submodules, follow these steps:

1. Prerequisites

   • Make sure you have Git installed on your system (https://git-scm.com/downloads).

2. Gitea SSH Connection

   • This is only usable in the University Network (the VPN hasn't worked so far either)
   • Follow this tutorial: https://www.techaddressed.com/tutorials/add-verify-ssh-keys-gitea/

3. Cloning the Repository

   • Open your terminal or command prompt.

   • Navigate to the directory where you want to download the project.

   • Run the following Git command:

     git clone --recurse-submodules git@git.cps.unileoben.ac.at:Niko/UR_Robotiq.git 
     

How to Start the Docker Compose

1. Prerequisites

   • Ensure you have Docker and Docker Compose installed on your system (Instructions can be found on the official Docker website: https://www.docker.com/)

2. Starting the Containers

   • Navigate to the project directory in your terminal:

     cd UR-Robotiq
     

   • When using the "ur_robotiq.urdf" file first run

     cd /ros2_ws/src/ur_robotiq_description/urdf
     ros2 run xacro xacro ur_robotiq.urdf.xacro > ur_robotiq.urdf
     

   • Run the following command to start the Docker Compose:

     docker-compose up -d