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 foxy
Last Updated 2020-10-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Universal Robot ROS2 interface for Webots.

Additional Links

Maintainers

  • Cyberbotics

Authors

No additional 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

Universal Robot Image 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

Multiple Universal Robots 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

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged webots_ros2_universal_robot at answers.ros.org

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 DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Universal Robot ROS2 interface for Webots.

Additional Links

Maintainers

  • Cyberbotics

Authors

No additional 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

Universal Robot Image 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

Multiple Universal Robots 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

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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 DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Universal Robot ROS2 interface for Webots.

Additional Links

Maintainers

  • Cyberbotics

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged webots_ros2_universal_robot at answers.ros.org

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.

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 DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Universal Robot ROS2 interface for Webots.

Additional Links

Maintainers

  • Cyberbotics

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged webots_ros2_universal_robot at answers.ros.org

No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.