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.
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
To install the Husky simulator packages:
sudo apt-get install ros-noetic-husky-simulator
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.
Spawn a new terminal window and move to the root directory of your workspace.
1. catkin build
2. source devel/setup.bash
To attach the arm to your Husky robot and start the simulation:
1. export HUSKY_URDF_EXTRAS=$(catkin_find husky_ur_description urdf/husky_ur5_e_description.urdf.xacro --first-only)
2. roslaunch ucla_husky_bringup simulation.launch
To attach the arm and gripper to your Husky robot and start the simulation:
1. export HUSKY_URDF_EXTRAS=$(catkin_find husky_ur_description urdf/husky_ur5_e_gripper_description.urdf.xacro --first-only)
2. roslaunch ucla_husky_bringup_gripper simulation.launch
Spawn a new terminal window and move to the root directory of your workspace.
source devel/setup.bash
roslaunch husky_ur_moveit_config husky_ur_moveit_planning_execution.launch
roslaunch husky_ur_robotiq_2f_85_moveit_config husky_ur_robotiq_2f_85_moveit_planning_execution.launch
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.