How do I setup a simulation for UR3e for ROS from scratch?
I'm new to ROS and URsim. I have trouble finding a complete guide on how to setup ROS and URsim. I have installed ROS already and done some tutorials on it. Which URsim packages do I need? Are there any depnedencies that I also need? I have read that I need a virtual maching for URsim, is this also true if I use it via ROS? I have ubuntu bionic 18.04 and my ROS version is melodic. The robot I am working on is a UR3 e-series. Thanks for your help.
There is nothing "special" about using ursim in your case.
Follow the normal steps for installation and setup as detailed by UR.
After that, treat the robot in ursim as you would the real robot.
Just make sure to use the IP address of the PC you run ursim on as the IP "of the robot" with any
.launch
files and other configuration of ROS nodes if/when needed.Edit: also: when you write "simulation for UR3e for ROS" here on this forum, people will assume you are asking how to create a robot model (ie: urdf) and Gazebo simulation. It does not appear this is what you are after. I would suggest to change the title of your question to better reflect what it is you're trying to do.
Sorry maybe I was unclear. What I need to do is to write code in ROS/C++ for a UR3e and then simulate it. Do i need URsim for this? Or can I directly do it in gazebo? Because when i try to do it like explained here (https://github.com/UniversalRobots/Un...) i get the error (after the first command line under "quick start", I left out the calibration part since i just try to make it run at first):
RLException: unused args [kinematics_config] for include of [/home/dimitri/catkin_ws/src/universal_robot/ur_description/launch/ur3_upload.launch] The traceback for the exception was written to the log file
If I do it like this (https://wiki.ros.org/ur_gazebo) then it works. Do I just have to write my code and include it in the launch file the launch it as described here?