README.md

THIS REPO IS STILL UNDER DEVEL AND UNSTABLE

项目仍在开发中，不保证稳定性

ur_project_ros2

The application of ur robots, robotiq gripper, realsense camera, etc.

To find more infomation (installation, usage), visit wiki

Structure

• robot_setup: robot description, moveit config, simulation env setup, etc.
  • ur_robotiq_rs: ur manipulator with a robotiq gripper and a realsense camera in its end effector
  • dual_ur_robotiq_rs: dual ur_robotiq_rs
  • vision: vision tools to detect objects, estimate pose, etc.
• tasks:
  • pick_and_place use moveit to plan a path to the given pose, grasp the obj.
  • find_hole use ft sensor.
  • dual_plan plan and execute dual arms at the same time.
• libs: third-party tools, plugins, etc.

Temp note

create new task package:

ros2 pkg create ${task_name} --build-type ament_cmake --node-name ${task_name} --dependencies rclcpp moveit_core moveit_ros_planning_interface moveit_common moveit_ros_planning tf2 rclcpp_action rclcpp_components control_msgs ${robot_pkg}