Quickstart Guide¶
(from “ README.md ” in github repo)
Installation¶
Clone the Universal Robot ROS Driver and associated dependencies
Clone this package to the src folder of your catkin workspace
- In the root folder of your workspace, install dependencies:
rosdep install --from-paths src --ignore-src -r -y
Build your workspace (
catkin_make
)
Usage¶
This package has some useful python objects you can import into your own nodes to send trajectories to the robot.
JointTrajectoryHandler
: Sends joint trajectories to the robot.Choose between several UR ROS controllers:
scaled_pos_joint_traj_controller
,scaled_vel_joint_traj_controller
,pos_joint_traj_controller
,vel_joint_traj_controller
, andforward_joint_traj_controller
You can also go to specific joint configurations via the
go_to_point()
function.
CartesianTrajectoryHandler
: Sends end effector pose trajectories to the robot.Choose between several UR ROS controllers:
pose_based_cartesian_traj_controller
,joint_based_cartesian_traj_controller
, andforward_cartesian_traj_controller
You can also go to specific cartesian poses via the
go_to_point()
function.
TwistHandler
: Sends cartesian end effector velocities to the robot.This uses the
twist_controller
from the UR ROS controllers.
Check out the Examples, the full API reference, or run any of the launch files in the launch
folder.