ROS与UR3机械臂的仿真与实时控制

基本配置：Ubuntu18.04+ROS melodic

1. 源码下载

cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git
git clone https://github.com/woo-rookie/ur_modern_driver.git
#原版本有报错
#将universal_robot下的ur_driver替换为上面下载的ur_modern_driver

2. 项目依赖安装

cd ..
rosdep update
rosdep install --from-paths --ignore-src --rosdistro melodic
catkin_make
source devel/setup.bash

3. 仿真

#启动gazebo
roslaunch ur_gazebo ur3.launch
#一个片段表示一个终端

#启动运动规划
roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true
#报错的话 执行下source ~/catkin_ws/devel/setup.bash

#启动rviz可视化
roslaunch ur3_moveit_config moveit_rviz.launch config:=true

4. 实时控制

根据机械臂网络设置，配置电脑ip，基本选项配置如下

![在这里插入图片描述](https://img-blog.csdnimg.cn/20210409200921661.PNG?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80ODM5NTYyOQ==,size_16,color_FFFFFF,t_70

#启动driver
roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=ip
#ip为UR3机械臂本体的静态地址

出这个，说明还未配置好，接续上步

#启动运动规划
roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch
#报错的话 执行下source ~/catkin_ws/devel/setup.bash

#启动rviz可视化
roslaunch ur3_moveit_config moveit_rviz.launch config:=true