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Controllers for the UR10e using the RTDE Libreries in ROS / ROS2

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UR_RTDE Controller

Controller for the UR10e using the RTDE Libraries https://sdurobotics.gitlab.io/ur_rtde/api/api.html

Dependencies

  • ROS Noetic
  • Eigen3
  • ur_rtde

Installation

  • Clone the Repository inside the catkin_ws:

      cd ~/catkin_ws/src
      git clone [email protected]:ARSControl/ur_rtde_controller.git
    
  • Install the RTDE Libraries

      sudo add-apt-repository ppa:sdurobotics/ur-rtde
      sudo apt-get update
      sudo apt install librtde librtde-dev
    
  • Install Python Requirements:

      pip install -r ../path/to/this/repo/requirements.txt
    
  • Build your workspace

      cd ~/catkin_ws
      catkin_make
    

Build New Robot Kinematic Libraries

The Kinematics Libraries are already available for the following robots:

  • CB3 Series (UR3, UR5, UR10)
  • e-Series (UR3e, UR5e, UR10e, UR16e)

If you want to add a new robot, follow these steps:

  • Install invoke:

      pip install invoke
    
  • Create the Kinematic Source Files in src/kinematic/robot_name_kinematic:

    • compute_robot_name_direct_kinematic.cpp
    • compute_robot_name_jacobian.cpp
    • compute_robot_name_jacobian_dot_dq.cpp
  • Use https://github.com/ARSControl/robot_kinematic to generate the Robot Kinematic Source Files (Little Manual Edit is Needed).

  • Edit the src/kinematic/tasks.py build file adding the new source and destination path.

  • Build the Robot Kinematic Library:

      cd path/to/package/src
      invoke build
    
  • Add the new libraries to the scripts/kinematic_wrapper script file.

Running

  • Set the UR Control Mode to Remote on the TP

  • To use the RobotiQ Gripper remember to Activate it from the TP UR+ Interface

  • Launch RTDE Controller

      roslaunch ur_rtde_controller rtde_controller.launch ROBOT_IP:=192.168.xx.xx enable_gripper:=true/false