UR in real life after Moveit Setup Assistant

asked 2022-03-25 05:00:44 -0500

rosberrypi gravatar image

updated 2022-04-30 13:43:14 -0500

lucasw gravatar image

Hello all,

I am trying to create my own custom application with UR5e + robotiq_2f_85 gripper. So far, I created my custom xacro and urdf files using the following two descriptions:

I followed the MSA and created two planning groups, manipulator and gripper. Within my MSA generated packages, I can run the demo.launch file successfully and send movements from Rviz motion planning interface to both groups. I also prepared my own ROS nodes to interact with both groups using python moveit _ommander interface.

Since it's my first time working with the actual hardware, what I am missing are the steps from now on.

  • How do I actually run my custom setup with the actual robot?

The documentation for the default UR package states that I should run:

roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]

And then moveit_config package:

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true
  • Changing from default to custom moveit setup, should I change anything in the ur_bringup launch file?
  • In order to connect to the real robot, should I add/change launch files in my package that was generated by MSA?

Thank you for your help in advance.

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