ur3e_ros2_tutorials

• ROS2 packages for Universal Robots UR3e tutorial.
  • ur3e_tutorials_py: A tutorial package to execute simple demonstrations with Python.
  • ur3e_tutorials_cpp: A tutorial package to execute simple demonstrations with C++.
• Docker for simulation and control environments for Universal Robots UR3e.

Dependencies

Docker build environment

• Ubuntu 22.04 PC
  • Docker 27.4.1
  • Docker Compose 2.32.1

UR3e with a robotiq gripper

• Ubuntu 22.04 PC
  • ROS Melodic
  • UniversalRobots/Universal_Robots_ROS_Driver
  • fmauch/universal_robot
  • Byobu
• UniversalRobots UR3e
• Robotiq Hand-E

Installation

Teach pendant

1. Install URCap on a e-series robot by following here.

   • Don't forget the last step of starting the External Control program on the teach pendant.
   • After bringup the system, start the External Control program to establish the connection.

2. (option to use a gripper) Install tool communication on universal robot pendant.

Host machine

1. Connect an Ethernet cable between the host computer and the Ethernet port of UR3e's controller
2. Set the network configuration as below
   
   • The ros node expects to reach the robot at the IP 10.0.2.2. You can change the IP with pendant
   • This IP is set to the robot_ip argument as below

     ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=10.0.2.2 launch_rviz:=false

3. Build the docker environment as below

   git clone [email protected]:UOsaka-Harada-Laboratory/ur3e_ros2_tutorials.git --recursive --depth 1 && cd ur3e_ros2_tutorials && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel  

Usage with docker

Using utility scripts

1. Build and run the docker environment

   docker compose up

2. Enter the docker container

   xhost + && docker exec -it ur3e_humble_container bash

Simulation

3. Run a demonstration on the host machine

   • Visualizing the model

     ros2 launch ur_description view_ur.launch.py ur_type:=ur3e

     

   • Executing the moveit GUI

     ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=127.0.0.1 use_fake_hardware:=true launch_rviz:=false

     ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true

     

   • Executing a motion with a Python script and scaled_joint_trajectory_controller

     ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=127.0.0.1 use_fake_hardware:=true initial_joint_controller:=scaled_joint_trajectory_controller launch_rviz:=true

     ros2 run ur3e_tutorials_py hello_joint_trajectory_controller

     or

     ros2 launch ur3e_tutorials_py hello_joint_trajectory_controller.launch.py

     

   • Executing a motion with a C++ program and MoveIt

     ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=127.0.0.1 use_fake_hardware:=true initial_joint_controller:=scaled_joint_trajectory_controller launch_rviz:=false

     ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true

     ros2 run ur3e_tutorials_cpp hello_moveit

     or

     ros2 launch ur3e_tutorials_cpp hello_moveit.launch.py

     

Real robot

3. Connect to the robot

   ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=10.0.2.2 launch_rviz:=false

4. Run the external control script on the pendant

5. Run a demonstration on the host machine

   • Executing the moveit GUI

     ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true

Author / Contributor

Takuya Kiyokawa

We always welcome collaborators!

License

This software is released under the MIT License, see LICENSE.