UR5-With-Robotiq85

Installation

Note: Following steps are based on UBUNTU 16.04 with ROS-kinetic

This step assumes that your PC is running with Ubuntu 16 and configured with ROS KINETIC and all required libraries

Creating Work Space and cloning UR5-With-Robotiq85 and universal_robot package

 mkdir –p ~/catkin_ws/src
 cd ~/catkin_ws/src
 git clone https://github.com/gaitech-robotics/UR5-With-Robotiq85.git
 git clone https://github.com/gaitech-robotics/universal_robot.git
 cd ~/catkin_ws && catkin_make

Basic Usage

Launch the decsciption

roslaunch ur5_robotiq85_description ur5_robotiq85_upload.launch

Bringup the robotiq85

roslaunch robotiq_85_bringup robotiq_85.launch

Bringup the UR5 Arm （Before launch this file, you need set the UR5 IP address and modify in the launch file.)

roslaunch ur_morden_driver ur5_bringup.launch

Bringup the move group

roslaunch ur5_robotiq85_moveit_config move_group.launch   

Actions List

Group	Action Nmae	Action Type
Arm	follow_joint_trajectory	FollowJointTrajectory
Gripper	gripper_actions/gripper_command	GripperCommand

Modification Process:

• Turn off the loading of the model description in ur5_bringup launch file.
• Turn off the startup of the ur5 arm robot_sate_publish node.
• Remap the ur5 arm joint states publish topic from /joint_states to /ur_arm/joint_states.
• Turn off the startup of the robotiq85 robot_sate_publish node and joint_sate_publish node.
• Turn off the loading of the model description in robotiq_85_bringup launch file.
• Add robotiq85 gripper actions node in the robotiq_85.launch file.
• Add robot_sate_publish node, joint_sate_publish node and load the new robot description file in the ur5_robotiq85_upload launch file .
• Add /gripper/joint_states and /ur_arm/joint_states into the joint_sate_publish node source list.
• Base on the new description file make a new moveit congfig package.
• Add the transformation in the GripperCommand Action.RealPosition = (-0.10897)*GoalPosition+0.085