UR5-project

This is a ROS project that implements the motion for a UR5 manipulator and the data acquisition from ZedCamera.
It is written for Ubuntu 20 and relies on the following setup: https://github.com/mfocchi/lab-docker

How to use ur5_project

In case one wishes to utilize this project, the following steps must be followed:

• Create a workspace catkin:

1. Open your terminal and create a new folder named catkin_workspacethat will become your workspace. Inside it, create the src folder;

mkdir catkin_workspace

cd catkin_workspace

mkdir src

2. Run catkin_make;

catkin_make

• Clone this repository in src:

cd src

git clone https://github.com/alterlleo/ur5_project.git

• Ensure that the environment is properly configured for the use of ROS packages within your workspace:
  This can be done by running the following instruction in the catkin_workspace directory:

source devel/setup.bash

• Run ur5_generic.py:

cd <locosim path>

phyton3 ur5_generic.py

• Make the object spawn:

1. Open a new terminal and run:

source <add path of catkin_workspace/>devel/setup.bash

rosrun ur5_project spawning

• Run vision:

1. Open a new terminal and run:

source <add path of catkin_workspace/>devel/setup.bash

rosrun ur5_project vision.py

• Run project :

1. Now you can run project :

rosrun ur5_project project

Please note: It may not work on the first compilation attempt. Don't worry and try again!

How to use doxygen

The overall Doxygen documentation can be found in doxygen/html/annotated.html.