Universal Robot (UR3) 使用 USB 摄像头和电磁夹持 器的 ROS 拾取和放置硬件实施_C++_代码_下载

Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper [`Simulation video`](https://youtu.be/Yj5DEocFa48) [`Hardware video`](https://youtu.be/FAYPbAhYoXw) - How to cite this repository: ``` Huang, L., Zhao, H., Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper, (2018), GitHub repository, https://github.com/lihuang3/ur3_ROS-hardware ``` or BibTex ``` @misc{Huang2018, author = {Huang, L., Zhao, H.}, title = {Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper}, year = {2018}, publisher = {GitHub}, journal = {GitHub repository}, howpublished = {\url{https://github.com/lihuang3/ur3_ROS-hardware}} } ``` #### 1. Connecting Universal Robot (UR3) to PC (Ubuntu 16.04) ##### 1.1 Configure your hardware Follow the steps on the official website [`"Getting Started with a Universal Robot and ROS-Industrial"`](http://wiki.ros.org/universal_robot/Tutorials/Getting%20Started%20with%20a%20Universal%20Robot%20and%20ROS-Industrial) to set up network using a router. Download the repo [`ur_modern_driver`](https://github.com/ThomasTimm/ur_modern_driver) to `src` in your Universal Robot workspace, and `catkin_make`. If there is hardware interface error during catkin make, replace [`ur_hardware_interface.cpp`](https://github.com/iron-ox/ur_modern_driver/blob/883070d0b6c0c32b78bb1ca7155b8f3a1ead416c/src/ur_hardware_interface.cpp) in `ur_modern_driver` To connect your PC and an UR3, run the following launch file, (you need to `source devel/setup.bash` first, and go to each folder that includes the launch file to launch it) ``` roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=ROBOT_IP_ADDRESS roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch roslaunch ur3_moveit_config moveit_rviz.launch config:=true ``` You may need to change your joint limit file before you run any motion planning program on the hardware. ([`Example`](https://github.com/lihuang3/ur3_ROS-hardware/issues/1#issuecomment-422070509)) #### 2. Image Processing #### 3. ROS-Arduino ##### 3.1 [`official tutorial`](http://wiki.ros.org/rosserial_arduino/Tutorials) [`Generating Message Header File`](http://wiki.ros.org/rosserial_client/Tutorials/Generating%20Message%20Header%20Files) After you download rosserial, to generate custom messages you should follow the following step: ``` cd <your workspace> source devel/setup.bash rosrun rosserial_arduino make_libraries.py /home/<username>/arduino-1.8.5/libraries ``` you can check you custom message folder at /home/<username>/arduino-1.8.5/libraries/ros_lib/ur5_notebook (or ur3_hardware) To use arduino subscribe ROS topic: [`Template for a ROS Subscriber Using rosserial on Arduino`](https://www.intorobotics.com/template-for-a-ros-subscriber-using-rosserial-on-arduino/) 1. compile /ur3_hardware/arduino_gripper/arduino_gripper.ino in Arduino IDE, and uplaod to board 2. Open a new Terminal and run initialize.roslaunch 3. Open another Terminal and start the subscriber node by typing the following command: ``` cd <your workspace> source devel/setup.bash rosrun rosserial_python serial_node.py /dev/ttyACM1 ``` 4. In Arduino IDE open serial monitor