ur_robotiq

Automatic Addison ROS 2 support for UR robotic arms (specifically UR3e) made by Universal Robots with a 2F-85 adaptive gripper made by Robotiq.

Contents

• ur_robotiq_description: Contains URDF/Xacro files for the combined UR3e and Robotiq 2F-85 setup
  • urdf/ur3e_robotiq_2f_85_urdf.xacro: Main Xacro file combining the UR3e arm and Robotiq gripper
  • urdf/ur3e_urdf.xacro: URDF/Xacro description for the UR3e arm
  • urdf/robotiq_2f_85_urdf.xacro: URDF/Xacro description for the Robotiq 2F-85 gripper

Usage

To view this robot in RViz:

1. Clone this repository into your ROS 2 workspace

cd ~/ros2_ws/src
git clone <URL goes here>

2. Download any dependencies:

cd ~/ros2_ws/
rosdep install --from-paths src --ignore-src -r -y

3. Build your workspace

colcon build
source install/setup.bash

4. Install the urdf_tutorial package for your ROS distribution:

sudo apt install ros-${ROS_DISTRO}-urdf-tutorial

5. To launch the URDF model viewer, use the following command:

ros2 launch urdf_tutorial display.launch.py model:=/home/ubuntu/ros2_ws/src/ur_robotiq/ur_robotiq_description/urdf/ur3e_robotiq_2f_85_urdf.xacro

This command will launch the URDF viewer with the Universal Robots robotic arm.

You can also type:

ros2 launch ur_description view_ur.launch.py ur_type:=ur3e

6. Remember to set the Fixed Frame under "Global Options" in RViz to the 'world' frame.

Dependencies

• ROS 2 (tested on ROS 2 Iron)

License

This project is licensed under the BSD 3-Clause License. See the LICENSE file for details.