UR Tutorial

This tutorial explains how to use UR robot from scratch.

This tutorial has been written using Ubuntu 20.04 and ROS Noetic.

Requirements

Before going any deeper in the following documentation, please make sure the following packages are installed :

• ROS

• Universal robot driver

  • From source [prefered]

    [Optinal] Creation of a ur workspace
    mkdir -p ur_ws/src && cd ur_ws
    
    
    git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
    git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot
    
    
    sudo apt update -qq
    rosdep update
    rosdep install --from-paths src --ignore-src -y
    
    catkin_make
    
    source devel/setup.bash
    

  • Using ros package

    sudo apt install ros-${ROS_DISTRO}-ur-robot-driver 
    

Initial robot setup

To use ur_robot_driver with a real robot you need to make sure that externalcontrol-x.x.x.urcap is installed. install it

When it's done, follow the necessary instructions{:target="_blank"} to install it on the robot using the user interface.

TODO Explain here how to setup the network parameter in ubuntu. Relating to the tutorial mentionned above.

Once this step is done, you can move on to the calibration step :

Each UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To also make use of this in ROS, you first have to extract the calibration information from the robot.

  robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"

Control your robot

• UR ROS Controller
• Gripper control
• UR10 Moveit Visualisation

To install all :

git clone https://github.com/ThomasDuvinage/ur10_robotiq_control.git

and then compile using catkin_make

Don't forget to source the workspace.