Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper
[`Simulation video`](https://youtu.be/Yj5DEocFa48)
[`Hardware video`](https://youtu.be/FAYPbAhYoXw)
- How to cite this repository:
```
Huang, L., Zhao, H., Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper, (2018), GitHub repository, https://github.com/lihuang3/ur3_ROS-hardware
```
or BibTex
```
@misc{Huang2018,
author = {Huang, L., Zhao, H.},
title = {Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper},
year = {2018},
publisher = {GitHub},
journal = {GitHub repository},
howpublished = {\url{https://github.com/lihuang3/ur3_ROS-hardware}}
}
```
#### 1. Connecting Universal Robot (UR3) to PC (Ubuntu 16.04)
##### 1.1 Configure your hardware
Follow the steps on the official website [`"Getting Started with a Universal Robot and ROS-Industrial"`](http://wiki.ros.org/universal_robot/Tutorials/Getting%20Started%20with%20a%20Universal%20Robot%20and%20ROS-Industrial) to set up network using a router.
Download the repo [`ur_modern_driver`](https://github.com/ThomasTimm/ur_modern_driver) to `src` in your Universal Robot workspace, and `catkin_make`. If there is hardware interface error during catkin make, replace [`ur_hardware_interface.cpp`](https://github.com/iron-ox/ur_modern_driver/blob/883070d0b6c0c32b78bb1ca7155b8f3a1ead416c/src/ur_hardware_interface.cpp) in `ur_modern_driver`
To connect your PC and an UR3, run the following launch file, (you need to `source devel/setup.bash` first, and go to each folder that includes the launch file to launch it)
```
roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=ROBOT_IP_ADDRESS
roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch
roslaunch ur3_moveit_config moveit_rviz.launch config:=true
```
You may need to change your joint limit file before you run any motion planning program on the hardware. ([`Example`](https://github.com/lihuang3/ur3_ROS-hardware/issues/1#issuecomment-422070509))
#### 2. Image Processing
#### 3. ROS-Arduino
##### 3.1
[`official tutorial`](http://wiki.ros.org/rosserial_arduino/Tutorials)
[`Generating Message Header File`](http://wiki.ros.org/rosserial_client/Tutorials/Generating%20Message%20Header%20Files)
After you download rosserial, to generate custom messages you should follow the following step:
```
cd <your workspace>
source devel/setup.bash
rosrun rosserial_arduino make_libraries.py /home/<username>/arduino-1.8.5/libraries
```
you can check you custom message folder at /home/<username>/arduino-1.8.5/libraries/ros_lib/ur5_notebook (or ur3_hardware)
To use arduino subscribe ROS topic:
[`Template for a ROS Subscriber Using rosserial on Arduino`](https://www.intorobotics.com/template-for-a-ros-subscriber-using-rosserial-on-arduino/)
1. compile /ur3_hardware/arduino_gripper/arduino_gripper.ino in Arduino IDE, and uplaod to board
2. Open a new Terminal and run initialize.roslaunch
3. Open another Terminal and start the subscriber node by typing the following command:
```
cd <your workspace>
source devel/setup.bash
rosrun rosserial_python serial_node.py /dev/ttyACM1
```
4. In Arduino IDE open serial monitor
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Universal Robot (UR3) 使用 USB 摄像头和电磁夹持 器的 ROS 拾取和放置硬件实施_C++_代码_下载
共18个文件
py:4个
msg:2个
cpp:2个
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Universal Robot (UR3) 使用 USB 摄像头和电磁夹持器的 ROS 拾取和放置硬件实施 1. 将 Universal Robot (UR3) 连接到 PC (Ubuntu 16.04) 1.1 配置你的硬件 按照官网的步骤"Getting Started with a Universal Robot and ROS-Industrial"使用路由器设置网络。 将存储库下载ur_modern_driver到src您的 Universal Robot 工作区,然后catkin_make. 如果catkin make过程中出现硬件接口错误,更换ur_hardware_interface.cppinur_modern_driver 要连接您的 PC 和 UR3,请运行以下启动文件,(您需要source devel/setup.bash首先,然后转到包含启动文件的每个文件夹以启动它) 更多详情、使用方法,请下载后阅读README.md文件
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ur3_ROS-hardware-master.zip (18个子文件)
ur3_ROS-hardware-master
arduino_gripper
arduino_gripper.ino 654B
msg
Tracker.msg 294B
blocks_poses.msg 290B
waypts.txt 1KB
Final Pres.pptx 72.41MB
include
usb_cam
usb_cam.h 4KB
launch
initialize.launch 1KB
src
usb_cam.cpp 29KB
ur3_vision.py 4KB
ur3_mp.py 14KB
ur3_joint_limited_robot.urdf.xacro 975B
LICENSE 819B
test_move.py 7KB
testmove2.py 9KB
nodes
usb_cam_node.cpp 8KB
CMakeLists.txt 2KB
README.md 3KB
package.xml 3KB
共 18 条
- 1
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