UR3 Trajectory using Control Barrier Function (Ver ROS Noetic)

Packages

UR3 Simulation (Noetic Devel)

• Description: ROS packages for controlling the Universal Robots UR3 robotic arm.
• Source: ur3

Setting up ROS workspace

1. Clone the repository:

   cd ~/catkin_ws/src
   git clone https://github.com/IRaC-Lab/CBF-Example-Using-MATLAB.git

UR3 Package Install

1. Building from Source:

   cd ~/catkin_ws
   
   # checking dependencies
   rosdep update
   rosdep install --rosdistro noetic --ignore-src --from-paths src

2. Build the packages

   cd ~/catkin_ws
   catkin_make

3. Kinematics for UR3

   sudo apt install ros-noetic-kdl-parser-py

4. Install CVXPY

   pip install cvxpy

Running CBF filter in ROS

roscore
roslaunch ur_gazebo ur3_pos_bringup.launch
rosrun ur_gazebo cbf_trajectory.launch

License

Package within this repository is distributed under its respective license. Please refer to each package's original repository for specific licensing information.