nasa_ur_compliance

Custom launch and config files for UR compliance.

https://github.com/UTNuclearRobotics/nasa_ur_compliance

https://github.com/UTNuclearRobotics/ros_controllers/tree/kinetic-compliance/compliance_controller

Installation:

git clone --recursive https://github.com/UTNuclearRobotics/nasa_ur_compliance

Usage:

source nasa_ur_compliance/devel/setup.bash

roslaunch nasa_specific_launch ur5_ros_control.launch robot_ip:=192.168.1.2

roslaunch nasa_specific_launch ur5_moveit_planning_execution.launch

roslaunch nasa_specific_launch ur5_compliance.launch

rviz

To toggle compliance ON/OFF:

rosservice call /compliance_controller/toggle_compliance "{}"

Other useful services:

rosservice call /wrench_to_joint_vel_pub/disable_compliance_dimensions

rosservice call /wrench_to_joint_vel_pub/adjust_stiffness

rosservice call /wrench_to_joint_vel_pub/adjust_damping