Armer UR

To be used with the Armer Driver

This package launches the UR drivers for use with the Armer Driver.

It interfaces with the UR drivers so they must be installed and built as well.

Installation

Preinstallation step: Install UR drivers

1. Clone the driver and description to the Armer workspace

cd ~/armer_ws 
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver 
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot 
cd fmauch_universal_robot 
rm -r *moveit*
rm -r *gazebo*
echo "Completed download and removing Moveit and Gazebo files"

2. Install dependencies and build workspace

sudo apt update 
rosdep update 
rosdep install --from-paths src --ignore-src -y
catkin_make
echo "Completed dependency install"

The URCap helper program is also required for running on a physical robot.

Armer UR installation

The following code snippet will download the Armer UR hardware package to workspace ~/armer_ws. It will then install dependencies and rebuild the workspace.

cd ~/armer_ws
git clone https://github.com/qcr/armer_ur.git src/armer_ur
rosdep install --from-paths src --ignore-src -r -y 
catkin_make 

Usage

roslaunch armer_ur robot_bringup.launch 

By default this will launch to control a physical UR5. To run a Swift simulation or specifiy a different UR model, the sim parameter can be set to true and the ur_model parameter can be set to the desired model such as "ur3". For example:

roslaunch armer_ur robot_bringup.launch sim:=true ur_model:=ur3