UR Setup

Requirements

Before going any deeper in the following documentation, please make sure the following packages are installed :

This can be installed from package using the following command or from source. I recommend using the last option as it lets you the possibility to check, understand and update the launch file of the robot bringup as it may be more convenient.
Using ros package

sudo apt install ros-${ROS_DISTRO}-ur-robot-driver
From source :
  [Optinal] Creation of a ur workspace
  mkdir -p ur_ws/src && cd ur_ws
    
  git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
  git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot
    
  sudo apt update -qq
  rosdep update
  rosdep install --from-paths src --ignore-src -y
    
  catkin_make
    
  source devel/setup.bash

Initial robot setup

Robot setup

To use ur_robot_driver with a real robot you need to make sure that externalcontrol-x.x.x.urcap is installed. install it

When it’s done, follow the necessary instructions to install it on the robot using the user interface.

Turn On Robot

TODO add step pictures

Client computer setup

After plugging rj45 cable to the you computer, you can set network properties (Settings→Network)

Calibration step

Since you network parameters are set, you can move on the calibration step.

Each UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To also make use of this in ROS, you first have to extract the calibration information from the robot.

Run the following command to calibrate :

roslaunch ur_calibration calibration_correction.launch robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"

Control your robot

ur_controller is available to control your robot.

https://github.com/ThomasDuvinage/ur10_robotiq_control

Install

cd ur_ws/src
git clone https://github.com/ThomasDuvinage/ur10_robotiq_control.git
cd .. && catkin_make

Usage

Controller structure