Package Summary
Tags | No category tags. |
Version | 1.0.6 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/cyberbotics/webots_ros2.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2021-04-10 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Cyberbotics
Authors
Universal Robot
This package provides an interface between ROS2 and the UR3e, UR5e and UR10e simulation models of the Universal Robots running in Webots. It includes several simulations of these robots.
Documentation is available here.
Changelog for package webots_ros2_universal_robot
1.0.0 (2020-09-01)
- Use the webots_ros2_core::webots_robotic_arm_node node
0.0.3 (2020-06-15)
- Added an \'universal_robot_multiple\' simulation and launch file.
- Added an \'universal_robot_rviz\' simulation and launch file.
- Added support for the goal tolerance in the action server.
- Fixed the action server that was never reaching the SUCCESSFUL state.
0.0.2 (2019-09-23)
- Initial version
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged webots_ros2_universal_robot at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 0.0.2 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/cyberbotics/webots_ros2.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2020-04-14 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Cyberbotics
Authors
Changelog for package webots_ros2_universal_robot
1.0.0 (2019-XX-YY)
- Added an \'universal_robot_multiple\' simulation and launch file.
- Added an \'universal_robot_rviz\' simulation and launch file.
- Added support for the goal tolerance in the action server.
- Fixed the action server that was never reaching the SUCCESSFUL state.
0.0.2 (2019-09-23)
- Initial version
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged webots_ros2_universal_robot at answers.ros.org
![]() |
webots_ros2_universal_robot package from webots_ros2 repowebots_ros2 webots_ros2_abb webots_ros2_core webots_ros2_desktop webots_ros2_examples webots_ros2_msgs webots_ros2_universal_robot webots_ros2_ur_e_description |
Package Summary
Tags | No category tags. |
Version | 0.0.2 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/cyberbotics/webots_ros2.git |
VCS Type | git |
VCS Version | crystal |
Last Updated | 2019-10-01 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Cyberbotics
Authors
Changelog for package webots_ros2_universal_robot
1.0.0 (2019-XX-YY)
- Added an \'universal_robot_multiple\' simulation and launch file.
0.0.2 (2019-09-23)
- Initial version
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
python3-pytest |
Dependant Packages
Name | Repo | Deps |
---|---|---|
webots_ros2 | github-cyberbotics-webots_ros2 |
Launch files
Messages
Services
Plugins
Recent questions tagged webots_ros2_universal_robot at answers.ros.org
![]() |
webots_ros2_universal_robot package from webots_ros2 repowebots_ros2 webots_ros2_abb webots_ros2_core webots_ros2_demos webots_ros2_epuck webots_ros2_examples webots_ros2_importer webots_ros2_msgs webots_ros2_tiago webots_ros2_universal_robot webots_ros2_ur_e_description |
Package Summary
Tags | No category tags. |
Version | 1.0.2 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/cyberbotics/webots_ros2.git |
VCS Type | git |
VCS Version | eloquent |
Last Updated | 2020-10-12 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Cyberbotics
Authors
webots_ros2_universal_robot
This package provides an interface between ROS2 and the UR3e, UR5e and UR10e simulation models of the Universal Robots running in Webots. It includes several simulations of these robots.
universal_robot Node
This node acts as a Webots robot controller.
It publishes the /joint_states
topic that represents the state of all the joints of the robot.
And it provides the /follow_joint_trajectory
action server that allows you to send joint trajectory action to the robot.
Samples Simulations
The following simulations are provided within this package:
universal_robot
This simulation can be started with the following launch file:
ros2 launch webots_ros2_universal_robot universal_robot.launch.py
This simulation contains one UR5e robot in a very simple environment.
universal_robot_rviz_dynamic
This simulation uses a new Webots feature to export URDF. Therefore, you will be able to change the robot model in Webots and to see the changes in RViz.
ros2 launch webots_ros2_universal_robot universal_robot_rviz_dynamic.launch.py
Note that the visual elements are still not supported, only the transforms will be shown.
universal_robot_multiple
This simulation can be started with the following launch file:
ros2 launch webots_ros2_universal_robot universal_robot_multiple.launch.py
This simulation contains a UR3e and a UR5e robot in a simple factory environment.
This is a very good example showcasing how to use the multi-robots support with the Webots-ROS2 interface.
universal_robot_lidar
This world contains UR5e robot with 3D LiDAR.
ros2 launch webots_ros2_core robot_launch.py \
executable:=webots_robotic_arm_node \
world:=$(ros2 pkg prefix webots_ros2_universal_robot --share)/worlds/universal_robot_lidar.wbt
Interact with the Robot
Move the Robot
The /follow_joint_trajectory
action server can be tested directly using the ROS2 action CLI interface to move the robot (if more than one robot is present in the simulation, the action name should be changed, e.g. /UR3e/follow_joint_trajectory
):
ros2 action send_goal /follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{
trajectory: {
joint_names: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint],
points: [
{ positions: [3.02, -1.63, -1.88, 1.01, 1.51, 1.13], velocities: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], accelerations: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], time_from_start: { sec: 5, nanosec: 500 } },
{ positions: [-1.01, 0.38, -0.63, -0.88, 0.25, -1.63], velocities: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], accelerations: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], time_from_start: { sec: 6, nanosec: 500 } },
{ positions: [-1.01, 0.38, -0.63, -0.88, 0.25, 6.2], velocities: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], accelerations: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], time_from_start: { sec: 50, nanosec: 500 } }
]
},
goal_tolerance: [
{ name: shoulder_pan_joint, position: 0.01 },
{ name: shoulder_lift_joint, position: 0.01 },
{ name: elbow_joint, position: 0.01 },
{ name: wrist_1_joint, position: 0.01 },
{ name: wrist_2_joint, position: 0.01 },
{ name: wrist_3_joint, position: 0.01 }
]
}"
Display the Joint State
The joint state (/joint_states
topic) can be displayed directly using the ROS2 topic CLI interface (if more than one robot is present in the simulation, the action name should be changed, e.g. /UR3e/joint_states
):
ros2 topic echo /joint_states
Changelog for package webots_ros2_universal_robot
1.0.0 (2020-09-01)
- Use the webots_ros2_core::webots_robotic_arm_node node
0.0.3 (2020-06-15)
- Added an \'universal_robot_multiple\' simulation and launch file.
- Added an \'universal_robot_rviz\' simulation and launch file.
- Added support for the goal tolerance in the action server.
- Fixed the action server that was never reaching the SUCCESSFUL state.
0.0.2 (2019-09-23)
- Initial version
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
python3-pytest |