jenga-ur5-control

Purpose

MoveIt! scripts for controlling UR5 with custom solenoid-based vacuum gripper.

Instructions

Following the usage instructions in ros-setup.sh located in https://github.com/jovialmcnulty/ros-setup will do the following:

• Setup ROS
• Setup catkin workspace
• Install UR5 ROS packages

After the setup is complete, the following commands can be used to test a simulated UR5:

NOTE: You will need running in a GUI session to use the simulators.

Multiple terminals will be needed, make sure to cd ~/ros_ws && source devel/setup.${0} for each terminal session.

First terminal: roslaunch ur_bringup ur5_bringup.launch

Second terminal: roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

Third terminal: roslaunch ur5_moveit_config moveit_rviz.launch config:=true

Use the following terminal to subscribe to various topics to see what is being published by running ROS topics.

For example: rostopic echo /arm_controller/state

With Rviz running, you should be able to drag the end-effector to a random position within the UR5's workspace. Then from the 'planning' tab, you should be able to plan and execute a path which will be played back in real-time on both Rviz and the open Gazebo session.