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ur_simulation_gz repository

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation.git
VCS Type git
VCS Version humble
Last Updated 2024-09-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
ur_simulation_gz 0.0.2

README

Universal_Robots_ROS2_GZ_Simulation

Example files and configurations for Gazebo simulation of Universal Robots’ manipulators.

Build status

Humble Iron Rolling
Branch humble iron ros2
Build status Humble Binary Main
Iron Binary Main
Rolling Binary Main

A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.

Using the repository

Skip any of below steps is not applicable.

Setup ROS Workspace

  1. Create a colcon workspace:
   export COLCON_WS=~/workspaces/ur_gz
   mkdir -p $COLCON_WS/src
   

NOTE: Feel free to change ~/workspaces/ur_gz to whatever absolute path you want.

NOTE: Over time you will probably have multiple ROS workspaces, so it makes sense to them all in a subfolder. Also, it is good practice to put the ROS version in the name of the workspace, for different tests you could just add a suffix to the base name ur_gz.

  1. Download the required repositories and install package dependencies:
   cd $COLCON_WS
   git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation.git src/ur_simulation_gz
   rosdep update && rosdep install --ignore-src --from-paths src -y
   

Configure and Build Workspace:

To configure and build workspace execute following commands:

  cd $COLCON_WS
  colcon build --symlink-install
  

Running Executable

First, source your workspace

source $COLCON_WS/install/setup.bash

ros2 launch ur_simulation_gz ur_sim_control.launch.py

Move robot using test script from ur_robot_driver package (if you’ve installed that one):

ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py

Example using MoveIt with simulated robot:

ros2 launch ur_simulation_gz ur_sim_moveit.launch.py

CONTRIBUTING

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.


Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation.git
VCS Type git
VCS Version iron
Last Updated 2024-09-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
ur_simulation_gz 1.0.0

README

Universal_Robots_ROS2_GZ_Simulation

Example files and configurations for Gazebo simulation of Universal Robots’ manipulators.

Build status

Humble Iron Rolling
Branch humble iron ros2
Build status Humble Binary Main
Iron Binary Main
Rolling Binary Main

A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.

Using the repository

Skip any of below steps is not applicable.

Setup ROS Workspace

  1. Create a colcon workspace:
   export COLCON_WS=~/workspaces/ur_gz
   mkdir -p $COLCON_WS/src
   

NOTE: Feel free to change ~/workspaces/ur_gz to whatever absolute path you want.

NOTE: Over time you will probably have multiple ROS workspaces, so it makes sense to them all in a subfolder. Also, it is good practice to put the ROS version in the name of the workspace, for different tests you could just add a suffix to the base name ur_gz.

  1. Download the required repositories and install package dependencies:
   cd $COLCON_WS
   git clone -b iron https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation.git src/ur_simulation_gz
   rosdep update && rosdep install --ignore-src --from-paths src -y
   

Configure and Build Workspace:

To configure and build workspace execute following commands:

  cd $COLCON_WS
  colcon build --symlink-install
  

Running Executable

First, source your workspace

source $COLCON_WS/install/setup.bash

ros2 launch ur_simulation_gz ur_sim_control.launch.py

Move robot using test script from ur_robot_driver package (if you’ve installed that one):

ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py

Example using MoveIt with simulated robot:

ros2 launch ur_simulation_gz ur_sim_moveit.launch.py

CONTRIBUTING

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.


Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation.git
VCS Type git
VCS Version ros2
Last Updated 2024-09-05
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
ur_simulation_gz 2.0.0

README

Universal_Robots_ROS2_GZ_Simulation

Example files and configurations for Gazebo simulation of Universal Robots’ manipulators.

Build status

Humble Iron Jazzy Rolling
Branch humble iron ros2 ros2
Build status Humble Binary Main
Iron Binary Main
Jazzy Binary Main
Rolling Binary Main

A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.

Using the repository

Skip any of below steps is not applicable.

Setup ROS Workspace

  1. Create a colcon workspace:
   export COLCON_WS=~/workspaces/ur_gz
   mkdir -p $COLCON_WS/src
   

NOTE: Feel free to change ~/workspaces/ur_gz to whatever absolute path you want.

NOTE: Over time you will probably have multiple ROS workspaces, so it makes sense to them all in a subfolder. Also, it is good practice to put the ROS version in the name of the workspace, for different tests you could just add a suffix to the base name ur_gz.

  1. Download the required repositories and install package dependencies:
   cd $COLCON_WS
   git clone -b ros2 https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation.git src/ur_simulation_gz
   rosdep update && rosdep install --ignore-src --from-paths src -y
   

Configure and Build Workspace:

To configure and build workspace execute following commands:

  cd $COLCON_WS
  colcon build --symlink-install
  

Running Executable

First, source your workspace

source $COLCON_WS/install/setup.bash

ros2 launch ur_simulation_gz ur_sim_control.launch.py

Move robot using test script from ur_robot_driver package (if you’ve installed that one):

ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py

Example using MoveIt with simulated robot:

ros2 launch ur_simulation_gz ur_sim_moveit.launch.py

CONTRIBUTING

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.


Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation.git
VCS Type git
VCS Version ros2
Last Updated 2024-09-05
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
ur_simulation_gz 2.0.0

README

Universal_Robots_ROS2_GZ_Simulation

Example files and configurations for Gazebo simulation of Universal Robots’ manipulators.

Build status

Humble Iron Jazzy Rolling
Branch humble iron ros2 ros2
Build status Humble Binary Main
Iron Binary Main
Jazzy Binary Main
Rolling Binary Main

A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.

Using the repository

Skip any of below steps is not applicable.

Setup ROS Workspace

  1. Create a colcon workspace:
   export COLCON_WS=~/workspaces/ur_gz
   mkdir -p $COLCON_WS/src
   

NOTE: Feel free to change ~/workspaces/ur_gz to whatever absolute path you want.

NOTE: Over time you will probably have multiple ROS workspaces, so it makes sense to them all in a subfolder. Also, it is good practice to put the ROS version in the name of the workspace, for different tests you could just add a suffix to the base name ur_gz.

  1. Download the required repositories and install package dependencies:
   cd $COLCON_WS
   git clone -b ros2 https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation.git src/ur_simulation_gz
   rosdep update && rosdep install --ignore-src --from-paths src -y
   

Configure and Build Workspace:

To configure and build workspace execute following commands:

  cd $COLCON_WS
  colcon build --symlink-install
  

Running Executable

First, source your workspace

source $COLCON_WS/install/setup.bash

ros2 launch ur_simulation_gz ur_sim_control.launch.py

Move robot using test script from ur_robot_driver package (if you’ve installed that one):

ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py

Example using MoveIt with simulated robot:

ros2 launch ur_simulation_gz ur_sim_moveit.launch.py

CONTRIBUTING

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.