93 lines
3.3 KiB
Markdown
93 lines
3.3 KiB
Markdown
## UR Robotiq
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*This project provides tools and integration to manage a Universal Robotics UR3e robot arm with the Robotiq 2F 140 gripper.*
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## How to Download (with Submodules)
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To download this repository and all of its included submodules, follow these steps:
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1. **Prerequisites**
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* Make sure you have Git installed on your system ([https://git-scm.com/downloads](https://git-scm.com/downloads)).
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2. **Gitea SSH Connection**
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* This is only usable in the University Network (the VPN hasn't worked so far either)
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* Follow this tutorial: https://www.techaddressed.com/tutorials/add-verify-ssh-keys-gitea/
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3. **Cloning the Repository**
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* Open your terminal or command prompt.
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* Navigate to the directory where you want to download the project.
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* Run the following Git command:
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```bash
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git clone git@git.cps.unileoben.ac.at:Niko/UR_Robotiq.git
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```
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4. **Download necessary repos**
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```bash
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vcs import src < UR_Robotiq.humble.repos
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```
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The packages cartesian_controller_simulation and cartesian_controller_tests are excluded from colcon build by default.
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If you want to build them to be build delete the COLCON_IGNORE file!
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## How to Start the Docker Compose
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1. **Prerequisites**
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* Ensure you have Docker and Docker Compose installed on your system (Instructions can be found on the official Docker website: [https://www.docker.com/](https://www.docker.com/))
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2. **Starting the Containers**
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* Navigate to the project directory in your terminal:
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```bash
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cd <path/to/UR-Robotiq>
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```
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* Run the following command to start the Docker Compose:
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```bash
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docker compose up -d
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```
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* Give X11 permission to accept the stream of the container window:
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```bash
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xhost +
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```
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* Get the name of the container:
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```bash
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docker ps
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```
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* Access the terminal of the docker container
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```bash
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docker exec -it <name of docker container> /bin/bash
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```
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## Working with UR + Robotiq
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In general you need to start up the UR Robotiq Controller,
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here the *robot_ip* has to be defined and if you want to start up the real robot or use fake hardware and if you want to launch rviz!
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```bash
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ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=<true/false(default)> launch_rviz:=<true/false(default)>
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```
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In addition you can start up the moveit interface:
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```bash
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ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardware:=<true/false(default)>
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```
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### use_fake_hardware:=true
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Terminal 1:
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```bash
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ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
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```
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Terminal 2:
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```bash
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ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardware:=true
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```
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### servoing
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Terminal 3:\
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**At the moment the servoing doesnt work with the collision checker (self collision still works).**
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```bash
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ros2 launch ur_robotiq_servo ps5_servo.launch.py
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```
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After launching you need to change the controller to enable the servo mode.\
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Terminal 4:
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```bash
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ros2 control switch_controllers --deactivate joint_trajectory_controller
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ros2 control switch_controllers --deactivate robotiq_gripper_joint_trajectory_controller
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ros2 control switch_controllers --activate forward_position_controller
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``` |