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Guide of the Universal Robot (eg: UR5)

| Ubuntu 1804 & ROS Melodic Morenia |

till now, we still used the deprecated ur_modern_driver from here.

We would follow the latest Universal_Robots_ROS_Driver at here in the future.

1. Installation

$ mkdir ur_ws && cd ur_ws

# 1. clone the ros-industrial/universal_robot
$ git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot


# 2. clone the ur_modern_driver 
$ git clone https://github.com/ros-industrial/ur_modern_driver.git

There are bugs in ur_modern_driver (issue #58), fix it in file ur_modern_driver/src/ur_hardware_interface.cpp:

-       controller_it->hardware_interface
+       controller_it->type

-       stop_controller_it->hardware_interface
+       stop_controller_it->type


# 3. checking dependencies
$ rosdep update
$ rosdep install --rosdistro melodic --ignore-src --from-paths src

# 4. building
$ catkin_make

# 5. activate this workspace (change bash to zsh if you use zsh)
$ source devel/setup.bash

2. Configure IP

  1. plug the ethernet cabel in your PC

  2. on the UR control panels, press Setup Robots -> NetWork -> Static Address.

  3. configure the IP address, subnet mask, gate way, preferred DNS server. eg:
    IP address : 192.168.1.102
    Subnet mask : 255.255.255.0
    Default gateway : 192.168.1.1
    Prefferred DNS server : 192.168.1.1
    Alternative DNS server : 0.0.0.0

  4. on your PC, go to Setting -> Network -> Wired -> IPv4. use the Manual IPv4 and set your PC's address, netmask and gateway. make sure the ip address of your PC is not in conflict with UR.

3. Bringup UR

At your UR control panel, go to the initialization screen, press ON -> START.
At your PC, cd ur_ws and source devel/setup.bash at each terminal.

Start UR driver

$1 roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.1.102

Start moveit:

$2 roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch

Start rviz to visualize

$3 roslaunch ur5_moveit_config moveit_rviz.launch config:=true