This project use MoveIt2 to control a UR5 robot arm. Using keyboard to control robot's pose, no GUI needed.
this repo is tested under ubuntu22.04 and ROS Humble
install moveit2
sudo apt install ros-humble-moveit
install Universal Robots ROS2 Driver
sudo apt-get install ros-${ROS_DISTRO}-ur
mkdir -p ur_control/src
cd ur_control/src
git clone git@github.com:catmulti7/ur_control.git
cd ..
colcon build --mixin release
Open a new terminal in workspace (always source the workspace) and run Universal Robots ROS2 Driver, the example use fake hardware just for testing.
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=yyy.yyy.yyy.yyy initial_joint_controller:=joint_trajectory_controller use_fake_hardware:=true launch_rviz:=false
If you are using a real robot or URSim
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=<UR_TYPE> robot_ip:=<IP_OF_THE_ROBOT> launch_rviz:=false
for more infomation of Universal Robots ROS2 Driver, see driver's repo
Open a new terminal in workspace, run
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 launch_rviz:=true use_fake_hardware:=true
This command will open a Rviz for visualize. If you don't want it, change launch_rviz:=true to launch_rviz:=false
similarly, if you are using a real robot or URSim, change use_fake_hardware:=true to use_fake_hardware:=false
Open a new terminal in workspace, run
ros2 run receive_command receive_command
This node caputure input from your keyboard. In this terminal you can use W/A/S/D/Q/E to control the robot
| key | Axis | Movement(m) |
|---|---|---|
| W | x | +0.02 |
| S | x | -0.02 |
| A | y | +0.02 |
| D | y | -0.02 |
| Q | z | +0.02 |
| E | z | -0.02 |
There are two main packages, robot_control and receive_command
Package receive_command includes code that get pose command from outside and publish the command in topic pose
Package rebot_control subscribe pose and control the robot using moveit::planning_interface::MoveGroupInterface