UR_Robotiq

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UR Robotiq

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

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

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

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/)
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 
```