• To launch the simulated arm and a controller for it
  • $ roslaunch ur_gazebo ur10.launch
• Initialize MoveIt!
  • $ roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true
• To control the simulated arm in RViz
  • $ roslaunch ur10_moveit_config moveit_rviz.launch config:=true

Move the arm by directly sending joint commands

• ./universal_robot/tests/simulate_ur10_by_sending_joint_command_via_action_client.py
  • Instantiate an actionlib client
  • Send joint commands as control_msgs.msg.FollowJointTrajectoryGoal to actionlib server in namespace /arm_controller/follow_joint_trajectory
  • Simulate the motion in gazebo
  • View the motion in rviz

Move the arm via MoveIt!

• ./universal_robot/tests/simulate_ur10_by_sending_joint_command_via_MoveIt.py
  • Interact with moveit_commander.MoveGroupCommander and send requests as end effector transformation, goal pose (joint-space goal), or cartesian path to robot controller
  • Simulate the motion in gazebo
  • View the motion in rviz

This is based on the release version ros-indigo-ur-*:amd64/trusty 1.1.10-1trusty-20170806-180022-0800, and incorporated with the changes customized for Robbie & Yuri (cob raw3-6) in Interactive Robotics Group.

ros-indigo-ur-description:amd64/trusty 1.1.10-1trusty-20170804-080540-0800 uptodate
ros-indigo-ur3-moveit-config:amd64/trusty 1.1.10-1trusty-20170806-180022-0800 uptodate
ros-indigo-ur5-moveit-config:amd64/trusty 1.1.10-1trusty-20170806-180527-0800 uptodate
ros-indigo-ur10-moveit-config:amd64/trusty 1.1.10-1trusty-20170806-180307-0800 uptodate
ros-indigo-ur-bringup:amd64/trusty 1.1.10-1trusty-20170804-081147-0800 uptodate
ros-indigo-ur-description:amd64/trusty 1.1.10-1trusty-20170804-080540-0800 uptodate
ros-indigo-ur-driver:amd64/trusty 1.1.10-1trusty-20170804-080728-0800 uptodate
ros-indigo-ur-gazebo:amd64/trusty 1.1.10-1trusty-20170809-105146-0800 uptodate
ros-indigo-ur-kinematics:amd64/trusty 1.1.10-1trusty-20170806-172844-0800 uptodate
ros-indigo-ur-modern-driver:amd64/trusty 0.0.3-0trusty-20170804-081849-0800 uptodate
ros-indigo-ur-msgs:amd64/trusty 1.1.10-1trusty-20170804-080214-0800 uptodate

• To mix a release version with customizations:
  • git clone https://github.com/ros-industrial/universal_robot.git
  • git checkout 1.1.10
  • git remote -v
  • git remote rename origin upstream
  • git remote add origin <your forked git repo url>
    • git remote add origin https://github.com/Shentheman/universal_robot.git
  • git fetch origin
  • git checkout -b <your new branch name>
    • git checkout -b irg-raw3-6
  • git status
  • git add -A
  • git commit -am <commit messages>
  • git push origin master