[Documentation] [TitleIndex] [WordIndex

universal_robots: ur10_e_moveit_config | ur10_moveit_config | ur3_e_moveit_config | ur3_moveit_config | ur5_e_moveit_config | ur5_moveit_config | ur_bringup | ur_description | ur_driver | ur_e_description | ur_e_gazebo | ur_gazebo | ur_kinematics | ur_msgs

Package Summary

ROS-Industrial support for Universal Robots manipulators (metapackage).

Experimental

EXPERIMENTAL: This status indicates that this software is experimental code at best. There are known issues and missing functionality. The APIs are completely unstable and likely to change. Use in production systems is not recommended. All code starts at this level. For more information see the ROS-Industrial software status page.

Overview

This stack is part of the ROS-Industrial program. It currently contains packages that provide nodes for communication with Universal's industrial robot controllers, URDF models for various robot arms and the associated MoveIt packages.

Compatibility

The ur_driver package should be compatible with most system versions, although has only been tested successfully with v1.8.16941 and older.

The ur_driver package has been successfully used with system versions ranging from v1.5.7849 to v1.8.23117. Newer versions seem to have introduced various incompatible changes, and can at present not be used with the ur_driver package.

We recommend users with newer system versions (v3.x and up) to use the ur_modern_driver package. Robot description and MoveIt configurations from the universal_robot stack can still be used.

Installation

On supported Linux distributions (Ubuntu, up to 16.04 (Xenial), i386 and amd64):

sudo apt-get install ros-$ROS_DISTRO-universal-robots

The following instructions assume that a Catkin workspace has been created at $HOME/catkin_ws and that the source space is at $HOME/catkin_ws/src. Update paths appropriately if they are different on the build machine.

In all other cases the packages will have to be build from sources in a Catkin workspace:

   1 cd /path/to/catkin_ws/src
   2 
   3 # retrieve the sources (replace '$DISTRO' with the ROS version you are using)
   4 git clone -b $DISTRO-devel https://github.com/ros-industrial/universal_robot.git
   5 
   6 cd /path/to/catkin_ws
   7 
   8 # checking dependencies (replace '$DISTRO' with the ROS version you are using)
   9 rosdep update
  10 rosdep install --from-paths src --ignore-src --rosdistro $DISTRO
  11 
  12 # building
  13 catkin_make
  14 
  15 # source this workspace (careful when also sourcing others)
  16 source /path/to/catkin_ws/devel/setup.bash

The packages can now be used as regular ROS packages.

Refer to the catkin tutorials for more information on building catkin workspaces.

Tutorials

See the Tutorials page for an overview of the available tutorials.

Contact us/Technical support

For questions about this package or ROS-Industrial in general, please contact the developers by posting a message in the ROS-Industrial category on ROS Discourse.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]


2019-09-21 13:19