husky_ur5e_robotiq_manipulation

This repository is meant to facilitate setting up a Husky robot with a UR5e arm and a Robotiq gripper. ROS Noetic is the only ROS version currently supported. You need a proper Catkin workspace for this tutorial, as well as Gazebo 11 and revelant ros_gazebo packages.

Installing this repository

Go to the /src directory of your Catkin workspace. Run this to clone the repository:

git clone https://github.com/vivekalumootil/husky_ur5e_robotiq_manipulation.git

Husky simulator dependency

To install the Husky simulator packages:

sudo apt-get install ros-noetic-husky-simulator

Manipulators

There are two possible options this repository provides. You can have the husky with a UR5 arm manipulator, or with a UR5e arm and a Robotiq gripper.

Starting up the gazebo world

Spawn a new terminal window and move to the root directory of your workspace.

1. catkin build
2. source devel/setup.bash

Only UR5 Arm

To attach the arm to your Husky robot and start the simulation:

1. export HUSKY_URDF_EXTRAS=$(catkin_find husky_ur_description urdf/husky_ur5_e_description.urdf.xacro --first-only)
2. roslaunch ucla_husky_bringup simulation.launch

UR5 Arm and Robotiq Gripper

To attach the arm and gripper to your Husky robot and start the simulation:

1. export HUSKY_URDF_EXTRAS=$(catkin_find husky_ur_description urdf/husky_ur5_e_gripper_description.urdf.xacro --first-only)
2. roslaunch ucla_husky_bringup_gripper simulation.launch

Launching the MoveIt package

Spawn a new terminal window and move to the root directory of your workspace.

source devel/setup.bash

Only UR5 Arm

roslaunch husky_ur_moveit_config husky_ur_moveit_planning_execution.launch

UR5 Arm and Robotiq Gripper

roslaunch husky_ur_robotiq_2f_85_moveit_config husky_ur_robotiq_2f_85_moveit_planning_execution.launch

Rviz controller

Spawn a new terminal window.

1. source devel/setup.bash
2. rviz

In the displays menu, change the Fixed Frame to be odom. Then click the Add button --> MotionPlanning --> OK. Select the planning group which corresponds to the manipulator you would like to control. manipulator is for the arm and gripper is for the gripper. Then drag the colored arrows around or adjust the sliders in the joint tab and press Plan & Execute.

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