机器人配置相关

sudo apt install ros-${ROS_DISTRO}-ur-robot-driver

# source global ros
$ source /opt/ros/<your_ros_version>/setup.bash

# 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 the description. Currently, it is necessary to use the melodic-devel branch.
$ git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot

# install dependencies
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y

# build the workspace
$ catkin_make

# activate the workspace (ie: source it)
$ source devel/setup.bash

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

$ roslaunch ur_robot_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101

 

$ roslaunch ur_robot_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101 \
  kinematics_config:=$(rospack find ur_calibration)/etc/ur10_example_calibration.yaml

rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

sudo apt install ros-<ROS-DISTRO>-rqt-joint-trajectory-controller