Open cmurray3 opened 8 months ago
This might be the winner thus far:
More links:
Potential Gazebo worlds: https://github.com/aws-robotics/aws-robomaker-small-warehouse-world Article link: https://discourse.ros.org/t/gazebo-small-warehouse-bookstore-and-small-house-worlds-available-for-simulation/14915
helpful link? :https://app.gazebosim.org/fuel/worlds
UR5 model with gripper: https://app.gazebosim.org/AndrejOrsula/fuel/models/ur5_rg2 other UR5 different options: https://app.gazebosim.org/AndrejOrsula/fuel/collections/manipulators
UR5 teams: Not sure if you've seen this, but this is a nicely-documented project involving the use of a UR arm (a UR3, I believe) to play chess. The end effector is from Robotiq.
Hello UR5 people,
Here are some things I've learned / am stuck on while trying to get the following github repo to function: https://github.com/pietrolechthaler/UR5-Pick-and-Place-Simulation
Setting it up properly..
Where I am at.. I can get the world to spawn. I can then get the bricks generated. I am having issues with the rosrun motion_planning command.. it's stuck at initializing kinematics. Visual does not work either compared to the video.
I'll edit this message if I make any progress. Last edit 4/6 11:34AM
Hello Dr. Murray,
The UR5 people convened and are wondering if you are available at 3:30PM on Thursday (4/11)?
Thursday at 3:30 works for me.
On Zoom or in 427 Bell?
Zoom would work the best for the UR5 teams.
Zoom link?
See the urdf_to_graphiz
tool mentioned here:
https://wiki.ros.org/urdf
It could be helpful as you start tracing the connections among the component parts of your UR5/Robotiq models
Hello Professor,
During out meeting you had mentioned that you were able to follow the steps listed on this website: https://sir.upc.edu/projects/rostutorials/final_work/index.html#provided-packages. and then launch the environment.
How were you able to do steps 2 and 3. I dont see a way to signup for gitioc (gitlab). Steps 2 and 3: Follow the procedure shown in Procedure to prepare the exercises to import in the intro2ros/2023/teamXX/FINAL-WORK subgroup of your GitLab account the package:
chesslab_setup: https://gitioc.upc.edu/rostutorials/chesslab_setup.git
In your git-projects folder clone the chesslab_setup project of your GitLab account inside an final-work subfolder (change XX by your team number). You can use https:
git clone https://gitlab.com/intro2ros/2023/teamXX/final-work/chesslab_setup.git final-work/chesslab_setup
or ssh:
git clone git@gitlab.com:intro2ros/2023/teamXX/final-work/chesslab_setup.git final-work/chesslab_setup
Any advice would be beneficial. Thank you.
A promising repository that we could potentially use: https://github.com/ClangWU/ur5_package Needed to install moveit: https://moveit.ros.org/install/
I was able to move the robot and control the gripper through Rviz under the motion planning tab. For programming purposes we would need to figure out how to use the moveit package with python commands.
Hi, Jack,
For the chesslab
repo, I just cloned the original repo:
cd ~/catkin_wsFinalWork/src
git clone https://gitioc.upc.edu/rostutorials/chesslab_setup.git
So, my ~/catkin_wsFinalWork/src
directory ended up with chesslab_setup
and ros2223-final-project
directories (plus CMakeLists.txt
)
A promising repository that we could potentially use: https://github.com/ClangWU/ur5_package Needed to install moveit: https://moveit.ros.org/install/
I was able to move the robot and control the gripper through Rviz under the motion planning tab. For programming purposes we would need to figure out how to use the moveit package with python commands.
This looks super encouraging!
It would be very helpful if you can trace/document the sequence of files that are used in the .launch
process of that guy's project.
Agree with you that figuring out how to use MoveIt via Python will also be good.
This issue covers the use of the UR5 arm.
Installation
I was able to install a UR5 gazebo simulation using this command:
After installing, launch the simulator:
Unfortunately, this does not include an "end effector" (i.e., a gripper or camera).
Source: https://github.com/ros-industrial/universal_robot
Other documentation:
End Effectors:
From what I've seen, Universal Robots makes arms, but not end effectors (EE). Thus, the ROS packages they support only include the arms.
Robotiq seems to be a large player in the EE space, but they don't actively support ROS. Fortunately, this repo provides ROS support for Robotiq EEs:
NOTES:
Here are some other places to look for help:
Ignore This
I'm saving this link here, but I don't think it's actually useful for our purposes: