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ur3e_hande_real's Introduction

ur3e_hande_real

Docker set up

  • Dockerを使ったセットアップは次のコードをターミナル上で使用。
git clone https://github.com/shumpe-m/ur3e_hande_real.git
cd ur3e_hande_real/Docker
./build.sh
./run.sh

Examples

それぞれのターミナルで以下のコードを起動

ur driver

URの出荷時のキャリブレーションを書き出す。

roslaunch ur_calibration calibration_correction.launch robot_ip:=192.168.1.103 target_filename:="${HOME}/my_robot_calibration.yaml"

先程のキャリブレーションを読み出しながらur3e_bringupを起動。ipアドレスはTPで設定している値。

roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=192.168.1.103 kinematics_config:="${HOME}/my_robot_calibration.yaml"

起動後、TPで再生ボタンを押しリモートにすることでPC側から通信を行えるようになる。

rviz

rvizを起動。

roslaunch ur_hande_moveit_config start_moveit.launch

Calibration

カメラを使う場合キャリブレーションを行う必要がある。（realsense D435 ）

参考：https://ros-planning.github.io/moveit_tutorials/doc/hand_eye_calibration/hand_eye_calibration_tutorial.html

Python Scripts

まず、rviz内の接触回避するオブジェクトを呼び出す。

rosrun ur_control_scripts rviz_setup.py

続いて、Moveit！もしくはソケット通信を用いてURへ命令を送るスクリプトを起動することで動かすことができる。

rosrun ur_control_scripts main.py

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