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norm-l / teleop-robot

Leap Motion controlled UR5 virtual robot in RViz using MoveIt! with ROS
GNU General Public License v3.0
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Is it possible to control a real UR5? #1

Open stevensu1838 opened 6 years ago

stevensu1838 commented 6 years ago

Hi Lucas, Thank you so much for your great project. I am a student from University of Canterbury in New Zealand. And I am working on a similar project to control the UR5 robot with Leap Motion. May I please ask you some questions about you project?

  1. I've tried you code and successfully control the grey UR5 arm in Rviz, however, the UR5 in Gazebo dosen't move accordingly. seems I cannot control the real UR5 robot. Do you think I can move a real robot with your arm?
  2. As you know, in Rviz we see two UR5 robots on the same base. The orange on for motion planning and the grey one execute the action. It is doable to control the UR5 arm with your code. Do you think I could also make some change in your code to control the orange arm? In this case, I would be able to do motion planning for the real ur5 robot in our lab.

Thank you again for you awesome project and looking forward to hearing from you soon.

Cheers. Steven

norm-l commented 6 years ago

Hi Steven,

Thanks for the kind words!

I'm assuming you have tried to play around with the launch file (providing the robot IP, checking that it is not in simulated mode?), the only other thing which I read upon moving a real robot is here.

In theory you should be able to edit the launch file to specify that you are working with a real robot and MoveIt should take care of the rest, do note that the initial position is set manually with initialJointValues so not sure how that would play out in the space of a real robot.

I did not try to run this code on a real robot so it may not be as simple as I have put it, it would be best to try and reference another MoveIt project where a real robot is used to see if there are major differences in the way they move the robot and the project setup (but like I said, as far as I am aware MoveIt doesn't have specific commands to simulated or real robots, they are shared and should work for both, having a very quick look at an issue over at UR you can see a sort of similar attempt)

As for the motion planning, I'm not too sure, my best guess is that you could change group = moveit_commander.MoveGroupCommander("manipulator") to something that would represent the orange arm instead of the actual arm, I would try and find something about controlling motion planning yourself in the MoveIt documentation as I am just guessing here (they seem to have actually updated it since I last looked, maybe there's something useful for you around here)

Best of luck and do let me know how it goes!

Kind Regards, Lukas

stevensu1838 commented 6 years ago

Hi Lucas, How are you doing? I think I've got enough skills on Moveit as you suggested. Now I am wondering how to learn reading data from Leap Motion by programming which is the first part of your python code for UR5 teleoperation. Can you please give me some advice? Thanks a million. For me, I actually only care about the trajectory of the end effector of UR5 and I wish to control the whole UR5(all joints) with leap motion sensor. Do you think it is doable?

Steven

tt2cloud commented 4 years ago

Hi Lucas, Thank you so much for your great project. I am a student from University of Canterbury in New Zealand. And I am working on a similar project to control the UR5 robot with Leap Motion. May I please ask you some questions about you project?

  1. I've tried you code and successfully control the grey UR5 arm in Rviz, however, the UR5 in Gazebo dosen't move accordingly. seems I cannot control the real UR5 robot. Do you think I can move a real robot with your arm?
  2. As you know, in Rviz we see two UR5 robots on the same base. The orange on for motion planning and the grey one execute the action. It is doable to control the UR5 arm with your code. Do you think I could also make some change in your code to control the orange arm? In this case, I would be able to do motion planning for the real ur5 robot in our lab.

Thank you again for you awesome project and looking forward to hearing from you soon.

Cheers. Steven

Hello stevensu1838, I am a Chinese student. Recently, I encountered your same problem. I am working on a similar project to control the UR10e robot with Leap Motion.I have been asking for help, but I found that you are more diligent than me, so I want to ask if you have solved this problem. If it is solved, can you guide me? I opened a new issue for this https://github.com/xylust/teleop-robot/issues/2 Thanks in advance!