ur5e_tutorials

• ROS package for Universal Robots UR5e tutorial.
  • ur5e_tutorials: A tutorial package to execute simple demonstrations.
• Docker for simulation and control environments for Universal Robots UR5e.

Dependencies

Docker build environment

• Ubuntu 18.04 PC
  • NVIDIA GeForce RTX2080Ti
    • NVIDIA Driver 455.23.05
    • CUDA 11.1
  • Docker 20.10.12
  • Docker Compose 1.29.2
  • NVIDIA Docker 2.10.0

UR5e with a robotiq gripper

• Ubuntu 18.04 PC
  • ROS Melodic
  • UniversalRobots/Universal_Robots_ROS_Driver
  • fmauch/universal_robot
  • Byobu
• UniversalRobots UR5e
• Robotiq 2F-140

Installation

Teach pendant

1. Install URCap on a e-series robot by following here.

   • Don't forget the last step of starting the External Control program on the teach pendant (known issue).
   • After bringup, start the External Control program to establish the connection.

2. (option to use a gripper) Install tool communication on universal robot pendant.

Host machine

1. Connect an Ethernet cable between the host computer and the Ethernet port of UR5e's controller
2. Set the network configuration as below
   
   • The ros node expects to reach the robot at the IP 172.32.1.148. You can change the IP with pendant
   • This IP is set to the robot_ip argument as below

     roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=172.32.1.148

3. Build the docker environment as below

   sudo apt install byobu && git clone git@github.com:Osaka-University-Harada-Laboratory/ur5e_tutorials.git --depth 1 && cd ur5e_tutorials && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel  

Usage with docker

Using utility scripts

1. Build and run the docker environment

• Create and start docker containers in the initially opened terminal

  docker compose up

Simulation

2. Run a demonstration on the host machine

• Visualizing the model

  ./utils/ur5e_rviz.sh

  

• Executing the moveit

  ./utils/ur5e_moveit_sim.sh

  

• Executing a wiggle demonstration

  ./utils/ur5e_wiggle_fake.sh

  

• Executing a pick-and-place demonstration

  ./utils/ur5e_pp_fake.sh

  

• Executing a pick-and-toss demonstration

  ./utils/ur5e_pt_fake.sh

  

Real robot

2. Connect to the robot

xhost + && docker exec -it ur5e_container bash -it -c "roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=172.32.1.148"

3. Run the external control script on the pendant
4. Run a demonstration on the host machine

• Executing the moveit

  ./utils/ur5e_moveit_real.sh

• Executing a wiggle demonstration

  ./utils/ur5e_wiggle.sh

• Executing a pick-and-place demonstration

  ./utils/ur5e_pp.sh

• Executing a pick-and-toss demonstration

  ./utils/ur5e_pt.sh

Manually execute commands

1. Build and run the docker environment

• Create and start docker containers in the initially opened terminal

  docker compose up

• Execute the container in another terminal

  xhost + && docker exec -it ur5e_container bash

2. Run a demonstration in the container

   byobu

   • First command & F2 to create a new window & Second command ...
   • Ctrl + F6 to close the selected window

Author / Contributor

Takuya Kiyokawa

We always welcome collaborators!

License

This software is released under the MIT License, see LICENSE.