ROS2-Humble-UR功能包仿真测试

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前言

版本要求：
Ubuntu22.04 LTS + ROS2-Humble

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一、UR功能包配置

1.开启终端创建工作空间

mkdir ur5e_ws
cd ur5e_ws
mkdir src
cd src

2.下载相应版本驱动和安装包

git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git -b humble
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git -b humble
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation.git

3.编译安装包

cd ..
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
echo "source ~/ur5e_ws/install/local_setup.sh">>~/.bashrc

二、功能包仿真测试

1.description功能包手动示教仿真测试

source install/setup.bash
ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

2.moveit_config功能包Rviz-Moveit拖动示教仿真测试

source install/setup.bash
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

3.driver功能包仿真测试

终端1：

source install/setup.bash
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.1 use_fake_hardware:=true launch_rviz:=true

终端2：

source install/setup.bash
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

4.MoveIt+Gazebo仿真

source install/setup.bash
ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py

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