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How to code my first pick-and-place application on universal robots?

I would like to use the moveit2 pick and place application with a different robot, not the panda as here in the description but the Universal Robots, in particular i would like to have a functional simulation.

PANDA EXAMPLE

  1. What package should I include from the UR driver for ROS2?
  2. What should I do to transpose my application with the UR?

If someone has a pick-and-place application available with one of the universal robots, it would be awesome!

Asked by errixerri on 2022-09-07 01:32:13 UTC

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Answers

A quick Google search gave me the following results:

  1. How to use the robot interface to pick and place an object at a predefined location with a UR5 robot arm
  2. How to control Universal Robot by using ROS2

Please spend some time going through them carefully.

Asked by ravijoshi on 2022-09-07 21:45:34 UTC

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Thank you very much for our help, but first link concern an old documentation and it is not clear at all, maybe it works well with the real robot but i'm not sure it will be fine. It tells me to clone an online repository but when i build it gives me back compiling errors! First link, PDF's one is an older version dealing with foxies version and not accurate at all, many links are not working

Asked by errixerri on 2022-09-08 07:08:27 UTC

Start with this link, and make sure to carefully go through the Readme:

https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation

You could have easily found this yourself using the search terms: ros2 universal robot

update:

When starting out, a moveit application (your code) is nearly the same across any robot arm that supports moveit. Typically, small tweaks need to be made for link names and frame names, but the moveit library calls will remain the same. More complex apps will be less portable.

Have you tried typing pick-place or pick-place-moveit into the search box at the top of this page?

Asked by Mike Scheutzow on 2022-09-10 09:05:56 UTC

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yes, thank you. but it is not a pick and place application with UR Robot like the one with the PANDA EXAMPLE and it does not explain how to integrate the UR robot driver with the PANDA EXAMPLE.

Asked by errixerri on 2022-09-13 05:29:22 UTC

I updated my answer.

Asked by Mike Scheutzow on 2022-09-13 07:12:20 UTC