IIWA_UR Dual-Arm ROS Packages

• iiwa_ur_description: a URDF for a KUKA LBR IIWA robot and a universal robot (default: iiwa7 and ur5).
• iiwa_ur_moveit_config: a MoveIt! package to work with the robot description just defined.
• iiwa_ur_bringup: a package to bringup the iiwa and ur union.
• iiwa_ur_gazebo: a package simulate motion in gazebo for the union.

Dependencies

• iiwa_stack: ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
• universal_robot: ROS-Industrial Universal Robots support.
• ur_modern_driver: ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots.

Note: I am using a UR5 with CB2, so I have to use this driver, but if you use a UR with >= CB3, you can't use these packages directly without some modifications for the new driver ur_robot_driver and fmauch/universal_robot.

Supported ROS Distribution

ROS Melodic and Noetic (tested).

Usages

After installing all the dependencies, you can:

• Only visualize in RVIZ:

  roslaunch iiwa_ur_moveit_config demo.launch

• Real robot control:

  • please make sure that iiwa and ur are in the same subnet. eg. iiwa: 172.31.1.147, ur: 172.31.1.12.

  • roslaunch the integrated launch file

    roslaunch iiwa_ur_moveit_config moveit_planning_execution.launch sim:=false ur_ip:=<your_ur_ip>

The rqt_graph:

• Simulate in Gazebo:

  roslaunch iiwa_ur_moveit_config moveit_planning_execution.launch sim:=true

The rqt_graph:

some other options may be used:

• -limited: if true, use the joint_limited version (joint limits restricted to [-pi,pi]) of UR, default false.
• -use_pedestal： if true, use pedestal instead of simple robot, default true.
• -ur_max_payload: maximum payload for ur, 5.0 for ur5, 3.0 for ur3, 10.0 for ur10, default 5.0. Note: musted be set if you used ur3 or ur10 instead of ur5.

More options info can be checked in launch files.

Other Branches

This branch master holds iiwa and ur in two different namespace, if you prefect a unified namespace version, you can try this branch all-in-one-namespace, whose almost all nodes and topics are included in a same namespace, dual_arm by default.

References

• dual_ur