UR5

This repository is a comprehensive guide for utilizing the Universal Robots UR5 robotic arm mounted on the Ridgeback mobile base platform.

Purpose: The purpose of this repository is to provide detailed instructions and resources on using the UR5 robot arm in conjunction with the Ridgeback mobile base. It covers three primary aspects:

1) Setup and Requirements for UR5

• All the packages provided in the 'src' folder are necessary to control the UR5 with ROS. These packages are modified versions derived from the Universal Robot repository (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git). The main modifications include the addition of some ROS controllers, configuration of files specific to our real UR5, and simplification of the 'roslaunch' command to easily select various types of controllers. This setup also serves as an example for adding additional controllers if desired.

• you need to have the ros control package : sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

2) Real Robot Usage

To effectively control the UR5 using ROS, the integration requires the use of the Polyscope interface connected to the robot (image) and the preconfigured 'roslaunch' provided by Universal Robots. This integration is facilitated through URCAPS, already set up on the robot for seamless usage with ROS.

Startup:

a) Power on the UR5.

Polyscope Setup:

a) On the Polyscope interface, navigate to: - 'Run Program' - Load the 'urcap_ros' file (Polyscope Image) All necessary configurations are preloaded.

Launching Controllers:

a) Launch the preferred controller on the inboard computer using provided commands. Each predefined launch incorporates the named controller and loads the position joint controller within. Custom launch files can later be created to include additional controllers. For example: roslaunch ur_lasa ur5_bringup_vel_controller.launch simu:=OFF

Activating Control:

a) Initiate control by pressing 'Play' on the Polyscope interface (Polyscope image).

Once these steps are completed, publish commands to desired topics. For instance, for the twist controller: /ur5/twist_controller/command Ensure using the appropriate message type for command publication.

All controllers defined in 'ur5_lasa/config/ur5_controllers' are accessible. Utilize ROS services to load and switch between controllers. example:

• see the loaded controllers: rosservice call /ur5/controller_manager/list_controllers
• switch controllers twist to pos: rosservice call /ur5/controller_manager/switch_controller "start_controllers: ['joint_group_pos_controller'] stop_controllers: ['twist_controller'] strictness: 2 start_asap: false timeout: 0.0"

3) Simulation Usage for UR5

The simulation is using the same tools as the real robot; the polyscope and the ur_robot_driver. To have a simualted polyscope you need to build and start the docker_polyscope.

bash build_docker.sh bash start_simu.sh

It will open a GUI exaccly replicating the real polyscope.

You need to create your program with your IP adress. the procedure is the folowing :

First click on programm robot and choose empty program. Then click on structure/ URCaps/External Control Then installation/external Control. And write your IP adresse in the Host IP. Finally, save-it When you want to control your robot and simulation you just have to run program and chosse your program.

In the folder docker_interface_ros run : bash build_docker.sh bash start_docker.sh

it will start the docker with the controlelrs inside, then to control in joint speed control run :

roslaunch ur_lasa ur5_bringup_vel_controller.launch simu:=ON

and click play on the polyscope GUI to connect both together