@@ -18,13 +20,13 @@ Installing The Grizzly UR10 from Source
Everything should compile smoothly (provided you have all of the debs installed. if not, install all of them until the compiler errors go away)
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Installing The Grizzly UR10 from debs
Installing The Husky UR5 from debs
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Until the ros-industrial/robotiq packages are released via debs, we recommend you install from source to prevent confusion and errors.
When available on http://www.ros.org/debbuild/indigo.html,
sudo apt-get install ros-indigo-husky-desktop
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Usage with real Hardware (Not tested yet)
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@@ -79,26 +81,7 @@ Don't forget to source the correct setup shell files and use a new terminal for
To bring up the simulated robot in Gazebo, run:
roslaunch grizzly_ur10_gazebo grizzly_ur10.launch
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Operating the Robotiq Gripper in Simulation
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Make sure the Gazebo simulation of the Grizzly UR10 is up and running before calling this command.
If it's not, you may start it by (first make sure your workspace is sourced to devel/setup.bash if it is installed by source, or /opt/ros/${rosdistro}/setup.bash if from apt-get)
@@ -106,18 +89,19 @@ MoveIt! with a simulated robot
Have the Gazebo simulation up and running:
roslaunch grizzly_ur10_gazebo grizzly_ur10.launch
roslaunch husky_gazebo husky_ur5.launch
Start the trajectory execution for simulation. This will allow the controllers to move the robot and bring up move_group which accepts PlanningRequest messages.
Make sure you set the planning request to be: ur10_arm so you can control the arm. It will also have interactive markers around it. hit the "Plan and execute" button once you have selected a nice location for the arm, and by nice it means a place where there is no red.
Make sure you set the planning request to be: ur5_arm so you can control the arm. It will also have interactive markers around it. hit the "Plan and execute" button once you have selected a nice location for the arm, and by nice it means a place where there is no red.
As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:
There are launch files available to bringup a simulated robot.
In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly.
Don't forget to source the correct setup shell files and use a new terminal for each command!
To bring up the simulated robot in Gazebo, run:
roslaunch husky_gazebo husky_ur5.launch
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MoveIt! with a simulated robot
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Have the Gazebo simulation up and running:
roslaunch husky_gazebo husky_ur5.launch
Start the trajectory execution for simulation. This will allow the controllers to move the robot and bring up move_group which accepts PlanningRequest messages.
Make sure you set the planning request to be: ur5_arm so you can control the arm. It will also have interactive markers around it. hit the "Plan and execute" button once you have selected a nice location for the arm, and by nice it means a place where there is no red.