How to control UR5/UR10

asked 2015-09-30 09:14:12 -0600

maztentropy gravatar image

updated 2015-10-01 02:13:07 -0600

I have been digging into the topic and apparently there are at least three options when it comes to controlling both UR models:

  • Action interface: I would need to learn how to use actionlib properly and then try to apply it to the UR.
  • Topic interface: I think I posses the knowledge to carry this path.
  • MoveIt!: It seems to be a big deal in ROS Industrial but unfortunately I haven't used it as of today.

I was trying to control a simulated UR10 (in Gazebo using Indigo) which I will later have to synchronize with a real UR10 and I guess I know how to continue using the topic interface. My question is which one out the three options would you recommend and why?

Edit:

Regarding the package I've been using: I downloaded and built the package "universal_robot" inside of which you can find "ur_gazebo". It contains a launch file for the UR10 (and UR5) which for testing purposes creates the arm in gazebo and defines a joint_trajectory_controller to which you should be able to send commands through the topic interface.

My goal is teleoperation but I might want to add automatic collision avoidance of some known objects in 3D space.

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Comments

Can you update your question with information on which pkgs/nodes you are using (you mention Gazebo, but how do you interface / control with your model?).

gvdhoorn gravatar imagegvdhoorn ( 2015-09-30 11:32:25 -0600 )edit

You might want to also add what your end goal is, for example if you're wanting to do path planning and collision avoidance you'll definitely want to use MoveIt!

Airuno2L gravatar imageAiruno2L ( 2015-09-30 11:38:05 -0600 )edit

Hi, did you manage to do what you were trying to do? I'm facing a similar problem

JuanTelo gravatar imageJuanTelo ( 2018-02-05 05:00:02 -0600 )edit