Quickstart Guide

(from “ README.md ” in github repo)

Installation

1. Clone the Universal Robot ROS Driver and associated dependencies

2. Clone this package to the src folder of your catkin workspace

3. In the root folder of your workspace, install dependencies:

   • rosdep install --from-paths src --ignore-src -r -y

4. 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, and forward_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, and forward_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.