UR5 Control Library (ur_rtde)

Website

https://sdurobotics.gitlab.io/ur_rtde/introduction/introduction.html

1. Install Dependences

sudo add-apt-repository ppa:sdurobotics/ur-rtde
sudo apt-get update
sudo apt install librtde librtde-dev

then will output the hint to install

 A C++ interface for sending and receiving data to/from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot.
 更多信息： https://launchpad.net/~sdurobotics/+archive/ubuntu/ur-rtde
按 [ENTER] 继续或 Ctrl-c 取消安装

press [ENTER] to continue or [Ctrl-c] to cancel install

2. Build Instructions(from source)

• Boost
• pybind11

The pybind11 dependency is optional and are only required if ur_rtde are to be used with Python. The ur_rtde library depends on Boost for networking and threading.

3. Dependencies

You can install Boost on Ubuntu using:

sudo apt-get install libboost-all-dev

(Optionally) if you want to use ur_rtde with Python make sure pybind11 is checked out from the submodule before attempting to build using:

git submodule update --init --recursive

4.Build

git clone https://gitlab.com/sdurobotics/ur_rtde.git
cd ur_rtde
git submodule update --init --recursive
mkdir build
cd build
cmake ..
make
sudo make install

Sometimes, network issues may cause the sudo make install command to fail when downloading pybind11. In such cases, You can use the compressed package pybind11.zip or you may need to manually download it using a proxy or other methods.

.gitmodules

[submodule "pybind11"]
        path = pybind11
        url = https://github.com/pybind/pybind11.git
        branch = stable

unzip or download this file in ur_rtde library, relative path: UR5_control/ur_rtde/pybind11

Examples

control and receive

import rtde_control
import rtde_receive

# connect to UR5
rtde_c = rtde_control.RTDEControlInterface("192.168.1.254")
rtde_r = rtde_receive.RTDEReceiveInterface("192.168.1.254")

1. control UR5 to move

python moveJ.py              # joint angle control
python moveL.py              # position control
python control_feedback.py   # Continuous movement with closed-loop detection of position accuracy

2. receive data

python get_joint.py # obtain UR5 joint
python get_pose.py  # obtain 6 Dof pose
python get_tcp.py   # obtain TCP pose
python status.py    # obtain real-time status of UR5

3. teach mode

python teach.py # enable or disable teach mode

4. inverse kinematics (6 DOF pose -> joint)

python pose2joint.py  # inverse kinematics

5. grasp task

python object2hand.py    # calculate grasping pose based on the object's 6Dof pose

python pick_and_place.py # connected with gripper to pick and place object

6. turn off

python power_off.py  # turn off UR5

program trash

ur5_merge.py