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UR10_robot_interface

UR10 Robot interface for controlling it with ROS

Description

This repo allows you to control easily the UR10 robot from your computer with ROS, sending commands to retrieve joint/cartesian position or to move the robot to desired positions. There are two versions of the interface, one interface with MoveIt motion planning framework (suggested because it has its own inverse kinematics solver to obtain cartesian position) and one interface sending directly the commands to the ROS topics, if you have problems with the MoveIt installation.

This works also with the Gripper 3F interface

Method UR10 (Moveit) UR10 (No Moveit)
set_cartesian_position ✅ ❌
set_joint_position ✅ ✅
get_joint_position ✅ ✅
get_cartesian_position ✅ ✅
table_pose ✅ ✅
zero_pose ✅ ✅
set_joint_velocity ❌ ✅
get_joint_velocity ❌ ✅
wobble ❌ ✅
get_force ❌ ✅
get_torque ❌ ✅

Topics:

  • Robotics
  • UR10

Result

Result

Result

Requirements & Dependencies

(Please follow this tutorial for installation)

Install

  • install the Requirements & Dependencies
  • clone this repo in your project

Run

  • remember to source the setup.bash of catkin
  • run the node to communicate with the robot
  • (if you use moveit) run the node to plan
  • use the interface as in the "Code" section
  • (optional)(if you use moveit) run the node to have the RViz GUI visualization

Example:

# on the UR10 robot pc
on -> start -> ok
program robot -> load program 
load the 'rosdriver.urp'
lower the speed!


# on the external pc

# FOR THE ROBOT
# commands to source the knowledge for ROS
# source /home/ur-colors/UR10_dockerized/catkin_ws/devel/setup.bash 
# or
source /home/ur-colors/srdpur10ws/UR10_dockerized/catkin_ws/devel/setup.bash
# activate env to have the pkgs installed
conda activate ur10_py3.9
# to activate the main node 
roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=192.168.0.111 kinematics_config:=${HOME}/ur10colors_calibration.yaml
# NOW PRESS PLAY ON THE ROBOT SCREEN, the progam finds the main node running, on the terminal you should see 
# 'Robot connected to reverse interface. Ready to receive control commands.'

# ACTIVATE MOVE IT SERVICE PLANNER (if you use it)
# ON ANOTHER SHELL
conda activate ur10_py3.9
roslaunch ur10_moveit_config moveit_planning_execution.launch

# NOW YOU ARE FREE TO SEND COMMANDS TO ROBOT, EVEN WITH THE PYTHON INTERFACE WITH MOVEIT

# IF YOU WANT TO VISUALIZE THE ROBOT POSITION WITH MOVEIT
# ON ANOTHER SHELL
conda activate ur10_py3.9
roslaunch ur10_moveit_config moveit_rviz.launch

# (IF YOU HAVE A 3F GRIPPER) FOR THE GRIPPER:
# ON ANOTHER SHELL
# source the knowledge for ROS
source /home/ur-colors/UR10_dockerized/catkin_ws/devel/setup.bash 
# activate env to have the pkgs installed
conda activate ur10_py3.9
# launch the node for the gripper, it moves to calibrate
roslaunch robotiq_3f_driver listener.launch ip_address:=192.168.0.11

Code

Example usage below:

from ur10_interface_moveit import UR10
import rospy

rospy.init_node("ur10moving")
rospy.sleep(1.0)
robot = UR10()

cart=robot.get_cartesian_position()
print(cart)

robot.set_cartesian_position([-0.9664, -0.1334, 0.4086, 0.3577, -0.9337, 0.0047, 0.0123])

pos=robot.get_joint_position()
print(pos)

robot.set_joint_position([-0.015, -1.7569, -1.3694, -1.4978, 1.7183, -2.4595])

robot.table_pose()

robot.zero_pose()

Useful Resources & Extra

Authors

  • Igor Lirussi @ BOUN Boğaziçi University - CoLoRs (Cognitive Learning and Robotics) Lab

Acknowledgments

  • All the people that contributed with suggestions and tips.

License

This project is licensed - see the LICENSE file for details.