This is a ROS package to simulate UR10 on gazebo and control the simulation via Moveit! with rviz or a python script.

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

-Configure your computer network for a static IP address

1. Go to network > Edit connections > Add Ehternet Connection
2. IPv4 Settings: (Method = Manual, Address = 192.168.1.111, Netmask = 24, Gateway = 192.168.1.1
3. Save

• ROS kinetic
• universal_robot package link
• ur_modern_driver link
• MoveIt! link
• Gazebo
• Rviz
• Software tested on Ubuntu 16.04.3 LTS.

1. Open terminal and go to your ~/catkin workspace/src directory
2. git clone modern driver

git clone https://github.com/ThomasTimm/ur_modern_driver

3. Build catkin workspace
4. If there is error in building, try replacing <ur_hardware_interface.cpp> file in the src directory of ur_modern_driver package (~/catkin_ws/src/ur_modern_driver/src)

1. Run a gazebo simulation by launching the following commands in three different terminals

roscore

roslaunch ur_gazebo ur10.launch

roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true

2. Rviz can also be executed with the following command on a fourth terminal

roslaunch ur10_moveit_config moveit_rviz.launch config:=true

3. Run the executable python motion plan to run simulation in gazebo environment:

rosrun ur10_motion_script ur10_turnArcFunction.py

OR just launch a launch file

roslaunch ur10_motion_script simulation.launch

Purpose: Turns about a reference center point in path mode or tilt mode

Parameters:

• axis: ['x'/'y'/'z'] - reference axis to turn the position of the end effector about
• CenterOfCircle_1,2: [float] - coordinate of the reference center of circle to turn the end effector about
• angle_degree: [degrees] - angular distance to turn
• direction: [1/-1] - 1 to turn ccw, -1 to turn cw
• tilt: ['yes'/'no'] - tilt mode yes or no
• tilt_axis: ['x'/'y'/'z'] - tilting axis with respect to the end effector frame
• tilt_direction: [1/-1] - 1 to turn ccw, -1 to turn cw

Purpose: Regrasp thin object by simultaneously tiliting end-effector and widening grip (unit: mm)

Parameters:

• theta: [degrees] - angle of gripper axis w.r.t. ground surface
• length: [mm] - length of thin object being gripped by gripper
• phi_target: [degrees] - regrasp angle
• axis: ['x'/'y'/'z'] - reference axis to turn the position of the end effector about
• direction: [1/-1] - 1 to turn ccw, -1 to turn cw
• tilt_axis: ['x'/'y'/'z'] - tilting axis with respect to the end effector frame
• tilt_direction: [1/-1] - 1 to turn ccw, -1 to turn cw

Purpose: Manipulate robot arm by specifying joint values

Parameters:

• joint angles in radians; joint order from base to wrist

Purpose: Manipulate robot arm by specifying end-effector frame pose

Parameters:

• Orientation in quaternions with respect to end-effector frame
• Cartesian coordinates of end-effector with respect to world frame
• Giving 'nil' as the parameter value will leave the parameter unchagned

Purpose: Manipulate by assigning relative joint values w.r.t. current joint values of robot

Parameters:

• joint angles in radians; joint order from base to wrist

Purpose: Manipulate by moving gripper linearly with respect to world frame

Parameters:

• axis_world: ['x'/'y'/'z'] - reference axis to move linearly about with respect to world frame
• distance: [float] - distance to move

• John Kim