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UTNuclearRobotics / ur5_sim

Gazebo simulation of a UR5 with gripper, etc.
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More instructions needed to run ur5_sim/tree/kinetic-steven #1

Open stevensu1838 opened 5 years ago

stevensu1838 commented 5 years ago

Hi Andy, I don't get enough info from the instructions. Can you please kindly give a hand on runing ur_sim?

  1. You've got pkgs ur_gazebo and ur_description in your ur5_sim. Do I need to delete the pkgs with the same names which I installed before in ROS on my PC?

  2. Do I still use the following command lines to run ur5_sim? If not, can you please elabrate? (I tried it this way and it throws errors)

    
roslaunch ur_gazebo ur5.launch limited:=true
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

3. How shall I use the following command line in ReadMe? first time using this type of file.

`./ur_gazebo/scripts/gazebo_starter.sh`

My last question is in the link shared in Readme on  how to To use with the SpaceNavigator, disable Gazebo's link to the [SpaceNavigator:](http://answers.gazebosim.org/question/14225/how-can-i-turn-off-the-space-navigators-control-of-the-camera/)
Can you please take a look at this? I assume the first solution does the work. But how exactly does it mean by saying `Just change the topic to something you are going to listen in your own plugin and it will not interfere with the gui, which listens to ~/spacenav/joy`
How shall I modify the following line: 
`topic=~/spacenav/remapped_joy_topic_to_something_not_used`

I'd never ever forget your kindness and constant help. I am kind of alone on ROS in our team. Thank you so much for your support. Thanks with no end.
Best regards!
AndyZe commented 5 years ago
  1. Do you mean you installed the binaries? You'll be fine then. Your local catkin workspace takes precedence over the binaries.

Do you mean you had those pkgs in your workspace already? Then you'll have to move them out.

  1. Yep, use those lines

  2. It's an executable file, a script. That line should do it.

SpaceNav thing: just change the topic to something different. Doesn't really matter what it is.

stevensu1838 commented 5 years ago

Hi Andy, It works well now. You are such a great guy. Thanks a million. BR, Steven

stevensu1838 commented 5 years ago

Hi Andy, Merry Christmas and happy new year. Just a quick question on ur_sim package. Please find below the lines I input in the terminals:

Terminal1: roslaunch ur_gazebo temoto_ur5.launch limited:=true
Terminal2: roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
(Optional)Another: roslaunch ur5_moveit_config moveit_rviz.launch config:=trues

Generally, it has been working very well except the robot in Gazebo mostly doesn't load properly as shown below. image When I get luck or reboot the PC, sometimes I can load it successfully as below. image Have you experienced this before? Btw, any change I can control the attached robotiq 140 gripper on UR5? Thanks a million

BR, Steven

ChenyangRan commented 5 years ago

@stevensu1838 Hi, I am a beginner for ros. I downloaded the package and followed your terminal. However, the robot in gazebo didn't move as the moviet!. Could you please tell me how to complete it? By the way, does the gripper work well in gazebo?