ros版本:Melodic
机械臂:优傲机器人ur5,控制器cb3,软件版本13.多
任务描述:机器人操作系统ros通过网线连接ur5,实现二者通信,在ros下控制ur5运动,为后续基于ros开发机械臂视觉抓取/避障等应用打下基础。
目录
1 ros的设置
1.1 下载安装功能包
ur的驱动有ur_driver、ur_modern_driver、ur_robot_driver,但是现在官方建议采用ur_robot_driver,该驱动在git上的地址为:https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
ur_robot_driver的下载及安装过程如下:
# create a catkin workspace
mkdir -p catkin_ws/src && cd catkin_ws
# clone the driver
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
# clone fork of the description. This is currently necessary, until the changes are merged upstream.
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
# install dependencies
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y
# build the workspace. We need an isolated build because of the non-catkin library package.
catkin_make
# activate the workspace (ie: source it)
source devel/setup.bash
最后一条指令最好写进.bashrc文件中。
安装完&