UR5e

Introduction

All packages(no eyehand package, some bug happened when compiled easy_handeye by catkin_make_isolated).

if you want to use joint control, please check JOINT_NAMES!!!

For example, when using a command(rostopic echo /joint_states), the output joint sequence order of the result is inconsistent with the official code. (should be: elbow_joint, shoulder_lift_joint, shoulder_pan_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint)

if you want to control robotiq gripper though UR control cabinet

Replace

from utils.robotiq_gripper import RobotiqGripper 

to

from utils.robotiq_gripper_remote import RobotiqGripper

launch file(all new terminal need to source devel_isolated/setup.bash)

UR5e control(launch: camera, robotiq, UR, moveit)

control robotiq gripper though computer

roslaunch Move_UR init_ur_robot.launch local_gripper_communicate:=True

control robotiq gripper though ur control cabinet

roslaunch Move_UR init_ur_robot.launch local_gripper_communicate:=False

Move robot follow a trajectory and collect data(data_collection env: py27)

you need to set trajectory_path first, on launch file args or terminal

eg: roslaunch Move_UR move_follow_trajectory.launch is_collect:=True control_mode:=end local_gripper_communicate:=False trajectory_path:="your trajectory path"

roslaunch Move_UR move_follow_trajectory.launch local_gripper_communicate:=False
roslaunch Move_UR data_collection.launch

Only move robot follow a trajectory

Only move robot follow a trajectory under end control

roslaunch Move_UR move_follow_trajectory.launch is_collect:=False local_gripper_communicate:=False

Only move robot follow a trajectory under joint control

roslaunch Move_UR move_follow_trajectory.launch is_collect:=False control_mode:=joint local_gripper_communicate:=False

Only data collection without move robot(data_collection env: py27)

roslaunch Move_UR data_collection.launch
rosservice call /collect_bool_service True

Robotiq control on terminal(local: sudo chmod 777 /dev/ttyUSB0 local_gripper_communicate:=True)

roslaunch Move_UR control_robotiq.launch local_gripper_communicate:=False

Camera

roslaunch azure_kinect_ros_driver driver.launch

algorithm(visual-->action) network communication

roslaunch Move_UR move_follow_action.launch
python src/Move_UR/scripts/publish_action_client_network.py

algorithm(visual-->action) local communication

python src/Move_UR/scripts/publish_action_client_local.py

Handeye calibration(need to cd shw_eyehand)

source devel/setup.bash
roslaunch easy_handeye ur5_kinect_calibration.launch

tool box

collect step rgbd image and robot state info(env: py27 & other args: --base_data_path your_path)

source devel_isolated/setup.bash
python src/Move_UR/scripts/useful_tool/collect_image_state.py

collect robot keypoint or entire trajectory(env: regnet & other args: --base_data_path your_path)

collect robot entire trajectory(/tf hz is 560~570)

python src/Move_UR/scripts/useful_tool/collect_robot_trajectory.py --mode record --record_step 1000

collect robot keypoint trajectory

python src/Move_UR/scripts/useful_tool/collect_robot_trajectory.py --mode select

Get keypoints from keyboard(env: regnet)

python src/Move_UR/scripts/useful_tool/collect_keypose.py

TODO

• refactor python file except move_ur_follow_trajectory
• add internet communication on remote workstationown
• test internet communication on robot
• test robotiq remote control and change the code