- Download UR's moveit-config, kinematics and gazebo
sudo apt-get install \ ros-kinetic-ur-gazebo \ ros-kinetic-ur5-moveit-config \ ros-kinetic-ur-kinematics
- Go to
~/catkin_ws/srctype:git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git git clone https://github.com/crigroup/robotiq.git
- Copy the
robotiq_descriptionfrom robotiq to the src and delete the rest - Go to
robotiq_description/urdfand openrobotiq_85_gripper.transmission.xacro. - Replace all
libgazebo_mimic_joint_plugin.sotolibroboticsgroup_gazebo_mimic_joint_plugin.so - Type
roscd ur_gazebo/controllerand create a file called:gripper_controller_robotiq.yamlwith following content
gripper_controller:
type: position_controllers/JointTrajectoryController
joints:
- robotiq_85_left_knuckle_joint
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
robotiq_85_left_knuckle_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 10- Type
roscd ur_description/robot.urdfand add following content to robot tag
<!-- gripper -->
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro" />
<!-- include camera -->
<xacro:include filename="/path/to/camera.urdf.xacro" />
<!-- include arm camera -->
<xacro:include filename="/path/to/arm_camera.urdf.xacro" />
<xacro:robotiq_85_gripper prefix="" parent="ee_link" >
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:robotiq_85_gripper>
<!-- camera -->
<xacro:camera/>
<!-- arm camera -->
<xacro:arm_camera/>
<joint name="arm_camera_joint" type="fixed">
<parent link="ee_link"/>
<child link = "arm_camera__link"/>
<origin xyz="0.02 0.0 0.05" rpy="0.0 0.0 0.0" />
</joint>
<joint name="world_camera" type="fixed">
<parent link="world" />
<child link = "camera__link" />
<origin xyz="0.75 -0.4 1.65" rpy="0.0 0.7 2.6" />
</joint>- Run
roslaunch ur_gazebo ur5.launchfor testing whether the gripper is on the arm.
- Type
roscd ur5_moveit_config/configand open "controllers.yaml" and add following content at the end:
- name: "gripper_controller"
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
joints:
- robotiq_85_left_knuckle_joint- Open
ur5.srdffile and add content:
<joint name="robotiq_85_left_knuckle_joint" /> to the group "manipulator"- Add following group to robot
<group name="gripper">
<link name="robotiq_85_base_link"/>
<link name="robotiq_85_left_inner_knuckle_link"/>
<link name="robotiq_85_left_finger_tip_link"/>
<link name="robotiq_85_left_knuckle_link"/>
<link name="robotiq_85_left_finger_link"/>
<link name="robotiq_85_right_inner_knuckle_link"/>
<link name="robotiq_85_right_finger_tip_link"/>
<link name="robotiq_85_right_knuckle_link"/>
<link name="robotiq_85_right_finger_link"/>
</group>- Add tag
<joint name="robotiq_85_left_knuckle_joint" value="0" />to
<group_state name="home" group="manipulator">
<group_state name="up" group="manipulator">- Add the end_effector to:
<end_effector name="moveit_ee" parent_link="ee_link" group="gripper" parent_group="endeffector" />and disable the collisions depending on your need.
- Type:
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=trueThere should be (maybe warnings) but no errors
Written by: Jiaming