UR_RTDE Controller

Controller for the UR10e using the RTDE Libraries https://sdurobotics.gitlab.io/ur_rtde/api/api.html

Dependencies

• ROS Noetic
• Eigen3
• ur_rtde

Installation

• Clone the Repository inside the catkin_ws:

    cd ~/catkin_ws/src
    git clone git@github.com:ARSControl/ur_rtde_controller.git
  

• Install the RTDE Libraries

    sudo add-apt-repository ppa:sdurobotics/ur-rtde
    sudo apt-get update
    sudo apt install librtde librtde-dev
  

• Install Python Requirements:

    pip install -r ../path/to/this/repo/requirements.txt
  

• Build your workspace

    cd ~/catkin_ws
    catkin_make
  

Build New Robot Kinematic Libraries

The Kinematics Libraries are already available for the following robots:

• CB3 Series (UR3, UR5, UR10)
• e-Series (UR3e, UR5e, UR10e, UR16e)

If you want to add a new robot, follow these steps:

• Install invoke:

    pip install invoke
  

• Create the Kinematic Source Files in src/kinematic/robot_name_kinematic:

  • compute_robot_name_direct_kinematic.cpp
  • compute_robot_name_jacobian.cpp
  • compute_robot_name_jacobian_dot_dq.cpp

• Use https://github.com/ARSControl/robot_kinematic to generate the Robot Kinematic Source Files (Little Manual Edit is Needed).

• Edit the src/kinematic/tasks.py build file adding the new source and destination path.

• Build the Robot Kinematic Library:

    cd path/to/package/src
    invoke build
  

• Add the new libraries to the scripts/kinematic_wrapper script file.

Running

• Set the UR Control Mode to Remote on the TP

• To use the RobotiQ Gripper remember to Activate it from the TP UR+ Interface

• Launch RTDE Controller

    roslaunch ur_rtde_controller rtde_controller.launch ROBOT_IP:=192.168.xx.xx enable_gripper:=true/false