Add arg prefix #7
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Yes, this seems reasonable. However, I assume that the models and launch files for the e-Series have similar missing pieces? |
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I have not looked for e-series, but I can if needed |
added 3 commits
June 16, 2020 14:00
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Will this be merged soon? I need the prefix to control multiple robots |
fmauch
requested changes
Feb 20, 2021
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| ``` | ||
| cd $HOME/catkin_ws/src | ||
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| # retrieve the sources (replace '$ROS_DISTRO' with the ROS version you are using) | ||
| git clone -b $ROS_DISTRO-devel https://github.com/ros-industrial/universal_robot.git | ||
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| cd $HOME/catkin_ws | ||
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| # checking dependencies (again: replace '$ROS_DISTRO' with the ROS version you are using) | ||
| rosdep update | ||
| rosdep install --rosdistro $ROS_DISTRO --ignore-src --from-paths src | ||
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| # building | ||
| catkin_make | ||
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| # activate this workspace | ||
| source $HOME/catkin_ws/devel/setup.bash | ||
| ``` | ||
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| __Usage__ | ||
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| ___With real Hardware___ | ||
| There are launch files available to bringup a real robot - either UR5 or UR10. | ||
| In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly. | ||
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| Don't forget to source the correct setup shell files and use a new terminal for each command! | ||
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| To bring up the real robot, run: | ||
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| ```roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]``` | ||
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| CAUTION: | ||
| Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens. | ||
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| ___MoveIt! with real Hardware___ | ||
| Additionally, you can use MoveIt! to control the robot. | ||
| There exist MoveIt! configuration packages for both robots. | ||
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| For setting up the MoveIt! nodes to allow motion planning run: | ||
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| ```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch``` | ||
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| For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run: | ||
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| ```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` | ||
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| NOTE: | ||
| As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.: | ||
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| ```roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]``` | ||
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| ```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true``` | ||
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| ```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` | ||
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| ___Usage with Gazebo Simulation___ | ||
| There are launch files available to bringup a simulated robot - either UR5 or UR10. | ||
| In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly. | ||
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| Don't forget to source the correct setup shell files and use a new terminal for each command! | ||
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| To bring up the simulated robot in Gazebo, run: | ||
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| ```roslaunch ur_gazebo ur5.launch``` | ||
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| ___MoveIt! with a simulated robot___ | ||
| Again, you can use MoveIt! to control the simulated robot. | ||
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| For setting up the MoveIt! nodes to allow motion planning run: | ||
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| ```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true``` | ||
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| For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run: | ||
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| ```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` | ||
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| NOTE: | ||
| As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.: | ||
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| ```roslaunch ur_gazebo ur5.launch limited:=true``` | ||
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| ```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true``` | ||
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| ```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` | ||
| ## Authors | ||
| * **Dufay Gaëtan** - *Initial work* - [steliaRT](https://github.com/steliaRT) | ||
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| ## License | ||
| This project is licensed under Stelia Aerospace License | ||
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| ## See also | ||
| * [universal_robot](https://github.com/fmauch/universal_robot) | ||
| * [Universal_Robots_ROS_Driver](https://github.com/steliaRT/Universal_Robots_ROS_Driver) |
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Please do not completely replace the README file.
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Closing in favor of #10 |
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All ur.urdf.xacro have a prefix parameter which is not defined in ur_robot.urdf.xacro and ur_joint_limited.urdf.xacro. I added it to avoid duplicate file for a different prefix only.
Default is "" to stay backwards compatible.