ROS Controller of RDDA+UR5

A ROS package for controlling the Remote Direct-Drive Actuator (RDDA) with Universal Robots UR5/UR5e at Northeastern University, Boston.

System Structure

Installtion

• ROS Kinetic Kame

• catkin

• Universal Robots ROS Driver

• MoveIt!

Configuration

• Setup ROS A master's IP: export ROS_IP=192.168.0.151 -> .bashrc

• Setup ROS B master's IP in rdda_comm_bridge.py

• Setup robot_type and robot_ip in control_core.py.

Usage

Start the control server

roslaunch rdda_ur5_control control_server.launch

RDDA services

• rosservice call /rdda_ur5_control/set_rdda_stiffness -- finger1 finger2
• rosservice call /rdda_ur5_control/init_rdda_stiffness
• rosservice call /rdda_ur5_control/set_rdda_positions -- finger1 finger2
• rosservice call /rdda_ur5_control/set_rdda_max_velocities -- finger1 finger2
• rosservice call /rdda_ur5_control/set_rdda_max_efforts -- finger1 finger2
• rosservice call /rdda_ur5_control/home_rdda
• rosservice call /rdda_ur5_control/read_rdda_positions
• rosservice call /rdda_ur5_control/read_rdda_lower_bounds
• rosservice call /rdda_ur5_control/read_rdda_upper_bounds
• rosservice call /rdda_ur5_control/read_rdda_origins

UR5 services

• rosservice call /rdda_ur5_control/read_ur5_position
• rosservice call /rdda_ur5_control/move_ur5 -- x y z roll pitch yaw velocity
• rosservice call /rdda_ur5_control/move_ur5_trajectory -- step_size step_num velocity wait
• rosservice call /rdda_ur5_control/move_ur5_linear -- axis target velocity wait
• rosservice call /rdda_ur5_control/stop_ur5
• rosservice call /rdda_ur5_control/home_ur5

Control Client for Python 3 Scripts

Example: control_client_py3.py

Contribution

NSF project: Controllable Compliance: A New Robotic Arm for Contact-Rich Manipulation

CoRL 2020: Belief-Grounded Networks for Accelerated Robot Learning under Partial (website)

Acknowledgement

This project uses the code from MoveIt! and the GitHub repository rdda_interface.