Using cartesian_controllers and Universal_Robots_ROS_Driver as a basis. Make sure you have installed these correctly in your workspace.

The tf2_broadcaster.cpp publishes the fix transform from base_link to base.

The old_tf_publisher.cpp publishes the transforms of all links at the moment of starting the node.

The target_frame_publisher.cpp calculates and publishes the target frame.

The debug_tool.cpp calculates the error between current and target pose and publishes it.

1. In your Universal_Robots_ROS_Driver/ur_robot_driver/config/ add ur5_cartesian_controllers.yaml

2. In your Universal_Robots_ROS_Driver/ur_robot_driver/launch/ add ur5_cartesian_controllers_bringup.launch, ur_common_cartesian.launch and ur_control_cartesian.launch.

3. Build the packages in your workspace

$ cd ros_workspace
$ catkin_make

1. Start Neobotix PC and its autostart launch file

2. In a new terminal - Launch the driver and provide IP and kinematics configuration on Neobotix PC

$ roslaunch ur_robots_driver ur5_cartesian_bringup.launch robot_ip:=192.168.1.20 kinematics_config:=($ rospack find ur_calibration)/etc/hska_ur5_calibration.yaml

3. Start ROS_external_control on UR5 touchpad --> driver terminal should confirm with Robot ready to receive control commands

4. In a new terminal - Launch nodes for calculating and publishing the target frame

$ roslaunch hska_neo hold_tcp.launch

1. In a new terminal

$ roslaunch hska_neo debug.launch

This should open a window plotting the distance between current and target pose of the endeffector.