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ridgeback_ur5_controller

Build Status

This package implements an admittance controller on the ridgeback+UR5 platform. It also provides a cartesian velocity controller (ros control) for the UR5 arm.

compliation and build

Clone the repository intor your catkin source directory

$ cd ~/catkin_ws/src
$ git clone [email protected]:epfl-lasa/ridgeback_ur5_controller.git

Get the source dependencies using wstool

$ wstool init
$ wstool merge ridgeback_ur5_controller/dependencies.rosinstall
$ wstool up

Get the package dependencies using rosdep

$ rosdep install -y --from-paths src --ignore-src --rosdistro indigo

You also need the following ros packages

$ sudo apt-get install ros-indigo-ridgeback-*
$ sudo apt-get install ros-indigo-universal-robot

if you are getting error for broken packages (most probably due to a wrong version of gazebo), you can use 'aptitude' instead of 'apt-get' which propose a solution and resolve the conflict.

Finally complie

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ catkin_make
  • you might need the source the bash file and compie again if the first compliation could not find some of in house dependencies.

Running the controller

To bring up the robot in simulation run

roslaunch cpr_bringup cpr_bringup.launch
roslaunch admittance_control admittance_controller.launch

For the real robot launch on the CPR main PC run

roslaunch cpr_bringup cpr_bringup.launch sim:=false
roslaunch admittance_control admittance_controller_real.launch