Comments (2)
Sure it can. I have been using it on a UR3e and UR5e without problem. The main changes are on the core controller, the Forward Kinematics and Inverse Kinematics libraries. I updated the KDL library, so it can load the robot's URDF from the ros parameter server robot_description
.
For the Inverse Kinematics, I have included the UR10 in my repo of IKFast databases. Alternatively, you can use Trac-IK which loads the URDF from the parameter server, similarly to KDL.
All of those definitions are here
ur3/ur_control/src/ur_control/arm.py
Lines 108 to 122 in e2bf3dc
I will update the code soon to have an example that does not relies on a fixed URDF. Instead it loads whatever URDF is on the robot_description
.
For gazebo, you would need to create a launch file loading your robot with whatever additional configuration you have (gripper, cameras, environment, etc)
For MoveIt, you could in principle use the default official package or create your own one following the MoveIt tutorials.
I think that covers most if not all the difference between UR robots in this repo.
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@Papul-Ghosh Hi,
I did some updates to the repository. Now it is easier to use any UR robot.
You can start gazebo for the cubes task world with the following command
roslaunch ur3_gazebo ur_cubes.launch ur_robot:=ur10
Then you can connect to the robot defining the specific robot like this:
arm = Arm(robot_urdf='ur10')
And that should be all for the basics
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Related Issues (20)
- URDF importer not working several files created dont exist
- Can't run scripts Error: package 'ur_control' not found HOT 10
- ROS noetic error HOT 20
- About the code about compliant control in gazebo HOT 4
- MoveIt HOT 9
- Catkin fails build HOT 3
- How can you deal with mimic in gazebo 9 instead of gazebo 7 HOT 1
- No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace. HOT 2
- Can't run scripts Error: package 'ur_control' not found HOT 2
- PyKDL Error HOT 10
- Timed out waiting for /wrench/ topic HOT 2
- 'sim_controller_examples.py -m' throws: TypeError: 'NoneType' object is not subscriptable HOT 2
- Bugs in python examples of ur3 motion HOT 2
- DOCKER_RUNTIME variable is not set in docker-compose HOT 6
- robotiq_control : no definition of python-pymodbus HOT 7
- ImportError: No module named pyquaternion HOT 1
- Running the gripper on real equipment HOT 17
- [ WARN] : The complete state of the robot is not yet known. Missing hande_left_finger_joint HOT 4
- Connection refused with UR5e HOT 5
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