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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.