Repository containing Robot Servers ROS packages

The packages have been tested for ROS Melodic (recommended).

WARNING for ROS Kinetic users:

The compatibility of the Universal Robots environments with ROS Kinetic has been maintained until version v0.1.8 included. After this version we integrated a refactored version of the universal_robot repository which is not compatible with ROS Kinetic. To use the UR environments on ROS kinetic you need to use v0.1.8 of the robo-gym package and v.0.1.8 of the robo-gym-robot-servers. See #16 for more details.

• MiR100
• Universal Robots UR 5, UR 10

Create a workspace folder in the home folder of your PC and clone this repository

mkdir -p ~/robogym_ws/src && cd ~/robogym_ws/src && git clone https://github.com/jr-robotics/robo-gym-robot-servers.git

Run the installation script

ROS Melodic

~/robogym_ws/src/robo-gym-robot-servers/melodic-install.sh

ROS Kinetic

~/robogym_ws/src/robo-gym-robot-servers/kinetic-install.sh

Add the following lines to your .bashrc file:

# Source ROS Melodic
source /opt/ros/melodic/setup.bash
# Source ROS Kinetic
# source /opt/ros/kinetic/setup.bash

# Source the workspace
source ~/robogym_ws/devel/setup.bash

Simulated Robot Servers are handled by the Server Manager. If you want to manually start a Simulated Robot Server use:

roslaunch mir100_robot_server sim_robot_server.launch gui:=true

• Connect to the robot's network

In a terminal window:

• Set ROS Master IP: export ROS_MASTER_URI=http://192.168.12.20:11311
• Launch MiR100 Robot Server roslaunch mir100_robot_server real_robot_server.launch gui:=true

Simulated Robot Servers are handled by the Server Manager. If you want to manually start a Simulated Robot Server use:

roslaunch ur_robot_server ur10_sim_robot_server.launch gui:=true

To control the UR Robots we use the new UR ROS Driver. At the current status the UR ROS Driver and the Universal_robot package use two different robot descriptions, for this reason it is needed to setup the UR ROS Driver in a separate workspace to avoid conflicts between the two packages.

# Source ROS Melodic
source /opt/ros/melodic/setup.bash
# Source ROS Kinetic
# source /opt/ros/kinetic/setup.bash

# Create a new folder for the workspace
mkdir -p ~/urdriver_ws/src
cd ~/urdriver_ws
catkin init

# Clone the necessary packages
cd ~/urdriver_ws/src
git clone https://github.com/jr-robotics/Universal_Robots_ROS_Driver.git
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git

# Install dependencies
cd ~/urdriver_ws
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

# Build the workspace
catkin build

For additional instructions on how to setup the driver on the robot follow the README of the UR ROS Driver.

NOTE: The following instructions and command lines have been written for the UR 10 but they apply to all the supported UR robots, for instance for using the UR 5 Robot Server it is sufficient to replace ur10 with ur5 in all the following command lines.

• Connect to the robot's network

In a terminal window start the UR ROS driver:

# Source ROS Melodic
source /opt/ros/melodic/setup.bash
# Source ROS Kinetic
# source /opt/ros/kinetic/setup.bash

# source the UR ROS Driver workspace
source ~/urdriver_ws/devel/setup.bash

# start the Driver (replace with the IP of your robot)
roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=192.168.12.70

In another terminal window start the Robot Server

# Source ROS Melodic
source /opt/ros/melodic/setup.bash
# Source ROS Kinetic
# source /opt/ros/kinetic/setup.bash

# source robo-gym workspace
source ~/robogym_ws/devel/setup.bash

# start the Robot Server
roslaunch ur_robot_server ur10_real_robot_server.launch gui:=true max_torque_scale_factor:=0.5 max_velocity_scale_factor:=0.5 speed_scaling:=0.5