Setup

Dependencies

Hardware:

• A pressure control system running my Ctrl-P Firmware
• A UR robot arm (currently tested only with a UR5e, but should work with other variants)
• A desktop computer running Linux (currently tested only in Ubuntu 18.04)

Software:

• ROS Melodic
  • The ur_modern_driver ROS package with e-series support (by plusone robotics)
  • My ROS Driver for Ctrl-P
  • ROS Industrial package apt-get install ros-melodic-industrial-core
  • MoveIt! motion planning package
  • My version of rosbag_recorder for saving data in ROS
  • My version of ros_video_recorder for saving videos in ROS
  • My rosbag-pickle-graph package for processing saved data
• Various python libraries:
  • All python dependencies are managed in the reqirements file. pip install -r requirements.txt

Installation

Download the ROS Package

1. This is a ROS package, so you should be working out of a catkin workspace
2. Add this package to your [WORKSPACE NAME]/src folder.
3. Inside the root folder of this package, install python requirements: pip install -r requirements.txt
4. In a new terminal, run catkin_make from your workspace directory to enable the custom python modules in this package to work.

Usage

This package enables basic robot motion, teach mode, and coordination of the arm with the hand. See the Tutorials section for step-by-steps.