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How can I use the universal robot package with gazebo?

asked 2020-08-31 11:15:13 -0500

StewartHemm74 gravatar image

updated 2020-08-31 11:16:52 -0500

I'm trying to use the universal_robots_ros_driver ( https://github.com/UniversalRobots/Un...) package with a ur manipulator. However, I can't find any documentation regarding how to do this. All of their documentation, states how to setup ROS using real hardware. I just want to play around sending commands to a simulation. Could you please provide an examle (i.e. roslaunch ur_gazebo ur5.launch and launch the ur_control)?

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Please do not delete questions with answers.

gvdhoorn gravatar image gvdhoorn  ( 2020-09-01 08:35:22 -0500 )edit

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answered 2020-08-31 11:17:03 -0500

gvdhoorn gravatar image

updated 2020-08-31 11:17:53 -0500

All of their documentation, states how to setup ROS using real hardware. I just want to play around sending commands to a simulation.

Then it makes sense you can't find anything, as the driver is not used with Gazebo.

Only with real robots, or with ursim.

Could you please provide an examle (i.e. roslaunch ur_gazebo ur5.launch and launch the ur_control)?

No, because as stated earlier, ur_robot_driver is not used with Gazebo.

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So then there is no way to remap topic names or provide a ip_address of the robot in gazebo?

StewartHemm74 gravatar image StewartHemm74  ( 2020-08-31 11:19:25 -0500 )edit

I don't understand your question.

Remapping topics is not something which only "works" when using the driver.

And only the driver uses IP addressing information, as it has to communicate with a UR controller. In the context of Gazebo, the IP address "of the robot" is not something which makes sense, as ROS topics / services / actions are used to communicate with the ros_control controllers running there.

Perhaps if you can provide some description of what it is you actually want to do, we can provide a better answer.

gvdhoorn gravatar image gvdhoorn  ( 2020-08-31 14:52:37 -0500 )edit

or atleast anyone say how to simulate it in gazebo by sending joint state coordinates

nullspace gravatar image nullspace  ( 2020-11-01 03:05:21 -0500 )edit

i want to control robot joints coordinate by publishing but i dont know how to do it please any one suggest any tutorial(other than construct-youtube videos) or any book

nullspace gravatar image nullspace  ( 2020-11-01 03:06:52 -0500 )edit

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Asked: 2020-08-31 11:15:13 -0500

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Last updated: Aug 31 '20