本项目仍在开发中

STILL UNSTABLE

UR5_Vision_Assemble

Use ROS2 and Gazebo to simulate 2 UR5 assembling objects.

Environment

• Ubuntu 22.04
• ROS2 humble

Dependence

• Gazebo classic
• Moveit2
• ros2 control
• image pipline

Usage

Before usage

make sure you have all the dependences installed

make sure you have local gazebo model in ~/.gazebo/models

记录一下踩过的各种坑

1. 调用moveit控制的那个launch文件也需要单独加载kinematics等参数（robot_description之类的倒是不用，好奇怪）
2. xml文件的注释中不要含有冒号:
3. 记得区分${xxx}和$(arg xxx)
4. 仿真需要设置use_sim_time=true，而且目前来看最好在launch文件里面来设置
5. 因为固定link的tf没有被发布出来导致深度相机返回的数据有问题

Acknowledgment

• Gazebo grasp plugin for ROS2 gazebo_pkgs
• ros2_robotiq_gripper
• Universal_Robots_ROS2_Description
• Universal_Robots_ROS2_Driver