ROS UR记录

1安装ROS

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

2安装moveit
利用源安装

rosdep update
sudo apt update
sudo apt dist-upgrade
sudo apt install python-wstool python-catkin-tools clang-format-10 python-rosdep
mkdir ~/catkin_ws
cd ~/catkin_ws
source /opt/ros/melodic/setup.bash
wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build
source ~/catkin_ws/devel/setup.bash # or .zsh, depending on your shell

3 UR ROS DRIVER安装

source /opt/ros/melodic/setup.bash
mkdir -p catkin_ws/src && cd catkin_ws
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y
catkin_make
source devel/setup.bash

启动UR desktop/command

roslaunch ur_calibration calibration_correction.launch \
robot_ip:=10.113.130.41 target_filename:="${HOME}/my_robot_calibration.yaml"
roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=10.113.130.41 kinematics_config:=$(rospack find ur_calibration)/etc/ur10_example_calibration.yaml