UR5e MoveIt setup with universal_robot driver

I am using the 'universal_robot' driver for an UR5e, and I would like to run moveit. With the old driver, I launched the following command to start the connection, and then start the MoveIt.

urbringup ur5bringup.launch robotip:=IPOFTHEROBOT

However, how should be done with the new driver? bringup launch doesn't exist anymore for the UR5e. I tried to start first ur5e.launch before rviz. Rviz uploads the configuration properly but not for the real connected robot... And I can't see any other method to set a connection to the robot Ip as with the other driver.

How is the connection performed with universal_robot driver?

Asked by UR5e on 2019-10-01 18:12:39 UTC

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Answers

Hello,

I would suggest downloading the new Universal Robot drivers from:

https://github.com/UniversalRobots/Universal_Robots_ROS_Driver

then you can use ur_robot_driver ur5e_bringup.launch robot_ip:=XXXX as per usual. This package does not include any of the robot description files so you still will need the 'universal_robot' package.

Asked by jen_Kski on 2019-12-13 15:29:57 UTC