ROS和UR5机械臂通讯

阿垚要加油

已于 2022-05-20 15:01:17 修改

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文章标签：人工智能

于 2022-03-24 21:17:55 首次发布

本文链接：https://blog.youkuaiyun.com/santututu39/article/details/123719808

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1、下载功能包

1.1 ur_robot_driver的下载及安装过程如下：

# create a catkin workspace
mkdir -p catkin_ws/src && cd catkin_ws
 
# clone the driver
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
 
# clone fork of the description. This is currently necessary, until the changes are merged upstream.
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
 
# install dependencies
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y
 
# build the workspace. We need an isolated build because of the non-catkin library package.
catkin_make

1.2 安装完，仿真测试一下：

#启动ur5的gazebo仿真环境
roslaunch ur_gazebo ur5_bringup.launch
#启动moveit规划执行文件
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
#启动rviz
roslaunch ur5_moveit_config moveit_rviz.launch config:=true