Apple Proxy

This repo is meant to bring all the UR5e and Apple Proxy in-house configurations into our proxy setup.

The intent of each subfolder:

1. config:

   • joint_limits.yaml: Set the speed and accelerations of the robot's joints
   • kinematics.yaml: Set the parameters of the inverse kinematics solver
   • ur5e.srdf: This is the Semantic Robot Description Format, and is useful to define stuff like:
     • Define some links that shouldn't be included in the collision avoidance.
     • Define default position (e.g. home).
     • Define link groups.

2. meshes: All the 3d model (stl) of the scene. In this case it has the models of the furniture, apple proxy and hand.

   • collision: simplified version of the stl, to make the solver run faster
   • visual: these are stl specificly more visualization purposes

3. urdf: Includes the Universal Robot Description Format.

4. launch: Launch files for different purposes.

Instructions

1 - Install additional required packages

• Install the UR5e ROS package from Universal Robots.
• Install the ros-serial package from Ros Drivers.

  git clone https://github.com/ros-drivers/rosserial.git

2 - Make sure to source your ws

Option 1 - Everytime you open a terminal:

source ~/YOUR_WS/devel/setup.bash

Option 2 - Edit the ".bashrc" file, so you do not need to run it everytime:

gedit ~/.bashrc

and add the text from Option 1 at the end of this file.

3 - Run the package

3.1 - Only visualization (Rviz)

Terminal 1 (Motion planner - MoveIt & visualization - Rviz):

roslaunch apple_proxy pickApp.launch

Terminal 2 (Your code):

3.2 - With the real UR5e and visualize it in Rviz

Terminal 1 (UR5e drivers):

roslaunch apple_proxy ur5e_bringup.launch robot_ip:=169.254.177.232

Terminal 2 (Motion planner - MoveIt & visualization - Rviz):

roslaunch apple_proxy pickApp_real.launch

Terminal 3 (Your code):

Notes:

Robots' ip addresses:

• Joe's UR5 ip address: 169.254.174.50
• Cindy's UR5 ip address: 169.254.177.232

Host pc's ip addresses:

• Desktop: 169.254.133.21
• Laptop: 169.254.177.231