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OLD_SETUP_UR3E.md

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Setup UR3e

Setting up ur_modern_driver

At the time of writing this documentation support for the UR3e with ROS is still in development. The solution provided may break with future work.

Currently tested with UR-Polyscope 5.3.

  1. Clone fork of ur_modern_driver
  • An alternative that may work is found here
    • tried this one but could not get to build.
  • Cannot use original repository, currently results in a deserializing packet error.
  1. Install controller_manager
  • Needed to build the UR driver.
  1. Before launch,
  • Need to enable Remote Control
    • Menu > Settings > System > Remote Control > Enable
  • Need to select Remote Control mode instead of Local mode
  • Setup or determine your network address
  1. Update launch file or use robot_configurations file
  • reverse port missing in ur_common.launch this needs to be removed from the bringup files. (Or use use the file provided in robot_configurations).
  1. If using MoveIt, need to update the universal_robot package e-series MoveIt planning context launch files.
  • Currently they point to UR3 URDFs instead of the UR3e URDFs.
  • Alternatively use the MoveIt configuraiton provided in the robot_configurations repository.

Setting up robotiq_driver

Provided in the Lab's Robotiq driver repository is an action server to send a URScript to the UR3e robot to control the gripper. This requires the ur_modern_driver to run.

Driver is currently under development, thus not all features are available at this time. Note: it does not receive feedback and just delays for assumed time.

Run this node with values:

rosrun robotiq_85_driver urscript_gripper_action_server.py speed:=255 urscript_topic:=/ur_driver/URScript

Known Issues

  • universal_robot package e-series MoveIt planning context need to be changed to correct URDFs.

    • Currently they point to UR3 URDFs instead of the UR3e URDFs.

  • ur_modern_driver reverse port missing in ur_common.launch.

    • Need to use the robot_bringup launch files provided in the robot_configurations repository.

  • After a protective stop, MoveIt seems to freeze up when commanding robot. Need to restart driver.

    • This may be a problem with switching to local mode in general (unconfirmed)

  • Robot must be powered and brake-released to control the robot, however joint-states are provided when powered but still locked.

  • If using ROS melodic, then all moveit packages that have 'move_group/MoveGroupExecuteService' loaded in move_group under capabilities needs to have it removed to run without error.

  • ur_modern driver launches a robot_state_publisher which we don't always want.

  • ur_modern_driver sends out to joint_states. Use the robot_bringup launch file which wraps this with a namespace.