├── .gitignore ├── README.md ├── media └── ur5_coord.gif ├── robotiq ├── README.md ├── robotiq_description │ ├── CMakeLists.txt │ ├── config │ │ └── robotiq_85.rviz │ ├── launch │ │ └── display_robotiq85.launch │ ├── meshes │ │ ├── collision │ │ │ ├── robotiq_85_base_link.stl │ │ │ ├── robotiq_85_finger_link.stl │ │ │ ├── robotiq_85_finger_tip_link.stl │ │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ │ └── robotiq_85_knuckle_link.stl │ │ ├── robotiq_85_coupler.stl │ │ └── visual │ │ │ ├── robotiq_85_base_link.dae │ │ │ ├── robotiq_85_finger_link.dae │ │ │ ├── robotiq_85_finger_tip_link.dae │ │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ │ └── robotiq_85_knuckle_link.dae │ ├── package.xml │ └── urdf │ │ ├── robotiq_85_gripper.transmission.xacro │ │ ├── robotiq_85_gripper.urdf.xacro │ │ ├── robotiq_85_gripper.xacro │ │ └── robotiq_85_gripper_sim_base.urdf.xacro └── robotiq_gazebo │ ├── CMakeLists.txt │ ├── include │ └── robotiq_gazebo │ │ ├── disable_link_plugin.h │ │ └── mimic_joint_plugin.h │ ├── package.xml │ └── src │ ├── disable_link_plugin.cpp │ └── mimic_joint_plugin.cpp ├── universal_robot └── universal_robot │ ├── README.md │ ├── universal_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml │ ├── universal_robots │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml │ ├── ur10_e_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur10e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur10_e_moveit_controller_manager.launch.xml │ │ ├── ur10_e_moveit_planning_execution.launch │ │ ├── ur10_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml │ ├── ur10_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur10.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur10_moveit_controller_manager.launch.xml │ │ ├── ur10_moveit_planning_execution.launch │ │ ├── ur10_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml │ ├── ur3_e_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur3e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur3_e_moveit_controller_manager.launch.xml │ │ ├── ur3_e_moveit_planning_execution.launch │ │ ├── ur3_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml │ ├── ur3_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur3.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur3_moveit_controller_manager.launch.xml │ │ ├── ur3_moveit_planning_execution.launch │ │ ├── ur3_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml │ ├── ur5_e_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur5e.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_e_moveit_controller_manager.launch.xml │ │ ├── ur5_e_moveit_planning_execution.launch │ │ ├── ur5_e_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml │ ├── ur5_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ └── ur5.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_moveit_controller_manager.launch.xml │ │ ├── ur5_moveit_planning_execution.launch │ │ ├── ur5_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml │ ├── ur5_new_moveit_config │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ └── ur5.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_moveit_controller_manager.launch.xml │ │ ├── ur5_moveit_planning_execution.launch │ │ ├── ur5_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml │ ├── ur5_r2_moveit_config │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ └── ur5_r2.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_r2_moveit_controller_manager.launch.xml │ │ ├── ur5_r2_moveit_planning_execution.launch │ │ ├── ur5_r2_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ ├── package.xml │ └── tests │ │ └── moveit_planning_execution.xml │ ├── ur5_r2_new_moveit_config │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ ├── sensors_3d.yaml │ │ └── ur5_r2.srdf │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_r2_moveit_controller_manager.launch.xml │ │ ├── ur5_r2_moveit_planning_execution.launch │ │ ├── ur5_r2_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml │ ├── ur_bringup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── ur10_bringup.launch │ │ ├── ur10_bringup_joint_limited.launch │ │ ├── ur3_bringup.launch │ │ ├── ur3_bringup_joint_limited.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_bringup_joint_limited.launch │ │ └── ur_common.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml │ ├── ur_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── view_robot.rviz │ ├── launch │ │ ├── ur10_upload.launch │ │ ├── ur3_upload.launch │ │ ├── ur5_r2_upload.launch │ │ ├── ur5_upload.launch │ │ ├── view_ur10.launch │ │ ├── view_ur3.launch │ │ ├── view_ur5.launch │ │ └── view_ur5_r2.launch │ ├── meshes │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur5 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5_r2 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── model.pdf │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur3.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur5.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ ├── ur5_r2.urdf.xacro │ │ ├── ur5_r2_joint_limited_robot.urdf.xacro │ │ ├── ur5_r2_robot.urdf.xacro │ │ ├── ur5_r2_robotiq85_gripper.urdf.xacro │ │ ├── ur5_robot.urdf.xacro │ │ └── ur5_robotiq85_gripper.urdf.xacro │ ├── ur_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── URDriver.cfg │ ├── package.xml │ ├── prog │ ├── prog_reset │ ├── setup.py │ ├── src │ │ └── ur_driver │ │ │ ├── __init__.py │ │ │ ├── deserialize.py │ │ │ ├── deserializeRT.py │ │ │ ├── driver.py │ │ │ ├── io_interface.py │ │ │ ├── testRT_comm.py │ │ │ └── test_comm.py │ ├── test_io.py │ └── test_move.py │ ├── ur_e_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── view_robot.rviz │ ├── launch │ │ ├── ur10e_upload.launch │ │ ├── ur3e_upload.launch │ │ ├── ur5e_upload.launch │ │ ├── view_ur10e.launch │ │ ├── view_ur3e.launch │ │ └── view_ur5e.launch │ ├── meshes │ │ ├── ur10e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5e │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10e.urdf.xacro │ │ ├── ur10e_joint_limited_robot.urdf.xacro │ │ ├── ur10e_robot.urdf.xacro │ │ ├── ur3e.urdf.xacro │ │ ├── ur3e_joint_limited_robot.urdf.xacro │ │ ├── ur3e_robot.urdf.xacro │ │ ├── ur5e.urdf.xacro │ │ ├── ur5e_joint_limited_robot.urdf.xacro │ │ └── ur5e_robot.urdf.xacro │ ├── ur_e_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10e.yaml │ │ ├── arm_controller_ur3e.yaml │ │ ├── arm_controller_ur5e.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10e.launch │ │ ├── ur10e_joint_limited.launch │ │ ├── ur3e.launch │ │ ├── ur3e_joint_limited.launch │ │ ├── ur5e.launch │ │ └── ur5e_joint_limited.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml │ ├── ur_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10.yaml │ │ ├── arm_controller_ur3.yaml │ │ ├── arm_controller_ur5.yaml │ │ ├── arm_controller_ur5_r2.yaml │ │ ├── joint_state_controller.yaml │ │ ├── ur5_gripper_controller.yaml │ │ └── ur5_r2_gripper_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── controller_utils_r2.launch │ │ ├── ur10.launch │ │ ├── ur10_joint_limited.launch │ │ ├── ur3.launch │ │ ├── ur3_joint_limited.launch │ │ ├── ur5.launch │ │ ├── ur5_gripper_controllers.launch │ │ ├── ur5_joint_limited.launch │ │ ├── ur5_r2.launch │ │ ├── ur5_r2_gripper_controllers.launch │ │ └── ur5_r2_joint_limited.launch │ ├── package.xml │ └── tests │ │ └── roslaunch_test.xml │ ├── ur_kinematics │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── ur_kinematics │ │ │ ├── ikfast.h │ │ │ ├── ur_kin.h │ │ │ └── ur_moveit_plugin.h │ ├── package.xml │ ├── setup.py │ ├── src │ │ ├── ur_kin.cpp │ │ ├── ur_kin_py.cpp │ │ ├── ur_kinematics │ │ │ ├── __init__.py │ │ │ └── test_analytical_ik.py │ │ └── ur_moveit_plugin.cpp │ └── ur_moveit_plugins.xml │ └── ur_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── Analog.msg │ ├── Digital.msg │ ├── IOStates.msg │ ├── MasterboardDataMsg.msg │ ├── RobotModeDataMsg.msg │ ├── RobotStateRTMsg.msg │ └── ToolDataMsg.msg │ ├── package.xml │ └── srv │ ├── SetIO.srv │ └── SetPayload.srv └── ur5_notebook ├── CMakeLists.txt ├── blocks_poses.h ├── blocks_poses.msg ├── blocks_poses_publisher.cpp ├── blocks_spawner.cpp ├── fixed_tf_broadcaster.py ├── fixed_tf_broadcaster2.py ├── frames.gv ├── frames.pdf ├── launch ├── initialize.launch ├── initialize.world └── main_single.launch ├── motion_planning_master.py ├── motion_planning_slave.py ├── msg ├── Tracker.msg ├── Tracker2.msg ├── Tracker2_second.msg ├── blocks_poses.msg └── blocks_poses_copy.msg ├── package.xml ├── send_gripper_master.py ├── send_gripper_slave.py ├── src ├── gazebo_test │ └── model.config ├── motionplanner1.py ├── motionplanner2.py ├── move_group_python_interface_tutorial.py ├── testmotion.py ├── testvision.py └── ur_description │ ├── common.gazebo.xacro │ ├── orig │ ├── common.gazebo.xacro │ └── ur5.urdf.xacro │ ├── ur5.urdf.xacro │ └── ur5_joint_limited_robot.urdf.xacro ├── ur5_vision_master.py ├── ur5_vision_slave.py └── urdf ├── bin.urdf ├── conveyor_belt.urdf ├── readme.txt ├── red_box.urdf ├── red_cylinder.urdf └── sdf ├── conveyor_belt.config └── conveyor_belt.sdf /media/ur5_coord.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/media/ur5_coord.gif -------------------------------------------------------------------------------- /robotiq/README.md: -------------------------------------------------------------------------------- 1 | # robotiq 2 | 3 | [![Build Status](https://travis-ci.org/utecrobotics/robotiq.svg?branch=master)](https://travis-ci.org/utecrobotics/robotiq) 4 | 5 | Visualization and simulation (in Gazebo) of a Robotiq gripper 6 | -------------------------------------------------------------------------------- /robotiq/robotiq_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_description) 3 | 4 | find_package( 5 | catkin REQUIRED COMPONENTS 6 | ) 7 | 8 | catkin_package() 9 | -------------------------------------------------------------------------------- /robotiq/robotiq_description/launch/display_robotiq85.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 7 | 8 | 9 | 11 | 12 | 14 | 15 | 18 | 19 | -------------------------------------------------------------------------------- /robotiq/robotiq_description/meshes/collision/robotiq_85_base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/robotiq/robotiq_description/meshes/collision/robotiq_85_base_link.stl -------------------------------------------------------------------------------- /robotiq/robotiq_description/meshes/collision/robotiq_85_finger_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/robotiq/robotiq_description/meshes/collision/robotiq_85_finger_link.stl -------------------------------------------------------------------------------- /robotiq/robotiq_description/meshes/collision/robotiq_85_finger_tip_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/robotiq/robotiq_description/meshes/collision/robotiq_85_finger_tip_link.stl -------------------------------------------------------------------------------- /robotiq/robotiq_description/meshes/collision/robotiq_85_inner_knuckle_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/robotiq/robotiq_description/meshes/collision/robotiq_85_inner_knuckle_link.stl -------------------------------------------------------------------------------- /robotiq/robotiq_description/meshes/collision/robotiq_85_knuckle_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/robotiq/robotiq_description/meshes/collision/robotiq_85_knuckle_link.stl -------------------------------------------------------------------------------- /robotiq/robotiq_description/meshes/robotiq_85_coupler.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/robotiq/robotiq_description/meshes/robotiq_85_coupler.stl -------------------------------------------------------------------------------- /robotiq/robotiq_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | robotiq_description 6 | 7 | 0.1.0 8 | 9 | The robotiq_description package. It has been adapted from: 10 | https://github.com/StanleyInnovation/robotiq_85_gripper 11 | 12 | 13 | oramos 14 | BSD 15 | oramos 16 | 17 | rospy 18 | catkin 19 | robot_state_publisher 20 | urdf 21 | xacro 22 | 23 | 24 | -------------------------------------------------------------------------------- /robotiq/robotiq_description/urdf/robotiq_85_gripper_sim_base.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /robotiq/robotiq_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3) 2 | PROJECT(robotiq_gazebo) 3 | 4 | FIND_PACKAGE(catkin REQUIRED COMPONENTS 5 | roscpp 6 | gazebo_ros 7 | control_toolbox 8 | xmlrpcpp 9 | ) 10 | 11 | FIND_PACKAGE(gazebo REQUIRED) 12 | FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) 13 | SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") 14 | 15 | CATKIN_PACKAGE( 16 | DEPENDS 17 | roscpp 18 | gazebo_ros 19 | control_toolbox 20 | xmlrpcpp 21 | ) 22 | 23 | LINK_DIRECTORIES( 24 | ${GAZEBO_LIBRARY_DIRS} 25 | ) 26 | INCLUDE_DIRECTORIES( 27 | ${Boost_INCLUDE_DIR} 28 | ${catkin_INCLUDE_DIRS} 29 | ${GAZEBO_INCLUDE_DIRS} 30 | include 31 | ) 32 | 33 | ADD_LIBRARY(gazebo_mimic_joint_plugin src/mimic_joint_plugin.cpp) 34 | TARGET_LINK_LIBRARIES(gazebo_mimic_joint_plugin 35 | ${catkin_LIBRARIES} 36 | ${GAZEBO_LIBRARIES}) 37 | 38 | ADD_LIBRARY(gazebo_disable_link_plugin src/disable_link_plugin.cpp) 39 | TARGET_LINK_LIBRARIES(gazebo_disable_link_plugin 40 | ${catkin_LIBRARIES} 41 | ${GAZEBO_LIBRARIES}) 42 | -------------------------------------------------------------------------------- /robotiq/robotiq_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_gazebo 4 | 0.1.0 5 | 6 | Gazebo wrapper for the Robotiq 85 gripper 7 | 8 | 9 | oramos 10 | oramos 11 | BSD 12 | 13 | catkin 14 | 15 | gazebo_ros 16 | roscpp 17 | control_toolbox 18 | xmlrpcpp 19 | 20 | gazebo_ros 21 | roscpp 22 | control_toolbox 23 | xmlrpcpp 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/universal_robot/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(universal_robot) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/universal_robot/package.xml: -------------------------------------------------------------------------------- 1 | 2 | universal_robot 3 | 1.2.5 4 | 5 | Drivers, description, and utilities for Universal Robot Arms. 6 | 7 | 8 | G.A. vd. Hoorn 9 | Miguel Prada Sarasola 10 | Nadia Hammoudeh Garcia 11 | 12 | BSD 13 | 14 | http://ros.org/wiki/universal_robot 15 | 16 | Shaun Edwards 17 | Stuart Glaser 18 | Kelsey Hawkins 19 | Wim Meeussen 20 | Felix Messmer 21 | 22 | catkin 23 | universal_robots 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/universal_robots/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package universal_robots 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.2.5 (2019-04-05) 6 | ------------------ 7 | * First release (of this package) 8 | * Contributors: gavanderhoorn, Nadia Hammoudeh García 9 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/universal_robots/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(universal_robots) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ur10_e_moveit_config 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.2.5 (2019-04-05) 6 | ------------------ 7 | * First release (of this package) 8 | * Update maintainer listing: add Miguel (`#410 `_) 9 | * UR-E Series (`#380 `_) 10 | * Contributors: Dave Niewinski, gavanderhoorn 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur10_e_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | if (CATKIN_ENABLE_TESTING) 9 | find_package(roslaunch REQUIRED) 10 | roslaunch_add_file_check(tests/moveit_planning_execution.xml) 11 | endif() 12 | 13 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 14 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/ur10_e_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_e_moveit_config/tests/moveit_planning_execution.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur10_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | if (CATKIN_ENABLE_TESTING) 9 | find_package(roslaunch REQUIRED) 10 | roslaunch_add_file_check(tests/moveit_planning_execution.xml) 11 | endif() 12 | 13 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 14 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | #manipulator: 2 | # kinematics_solver: ur_kinematics/UR10KinematicsPlugin 3 | # kinematics_solver_search_resolution: 0.005 4 | # kinematics_solver_timeout: 0.005 5 | # kinematics_solver_attempts: 3 6 | manipulator: 7 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/ur10_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/tests/moveit_planning_execution.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ur3_e_moveit_config 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.2.5 (2019-04-05) 6 | ------------------ 7 | * First release (of this package) 8 | * Update maintainer listing: add Miguel (`#410 `_) 9 | * UR-E Series (`#380 `_) 10 | * Contributors: Dave Niewinski, gavanderhoorn 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur3_e_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | if (CATKIN_ENABLE_TESTING) 9 | find_package(roslaunch REQUIRED) 10 | roslaunch_add_file_check(tests/moveit_planning_execution.xml) 11 | endif() 12 | 13 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 14 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/ur3_e_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_e_moveit_config/tests/moveit_planning_execution.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur3_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | if (CATKIN_ENABLE_TESTING) 9 | find_package(roslaunch REQUIRED) 10 | roslaunch_add_file_check(tests/moveit_planning_execution.xml) 11 | endif() 12 | 13 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 14 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | #manipulator: 2 | # kinematics_solver: ur_kinematics/UR3KinematicsPlugin 3 | # kinematics_solver_search_resolution: 0.005 4 | # kinematics_solver_timeout: 0.005 5 | # kinematics_solver_attempts: 3 6 | manipulator: 7 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/ur3_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/tests/moveit_planning_execution.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ur5_e_moveit_config 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.2.5 (2019-04-05) 6 | ------------------ 7 | * First release (of this package) 8 | * Update maintainer listing: add Miguel (`#410 `_) 9 | * UR-E Series (`#380 `_) 10 | * Contributors: Dave Niewinski, gavanderhoorn 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur5_e_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | if (CATKIN_ENABLE_TESTING) 9 | find_package(roslaunch REQUIRED) 10 | roslaunch_add_file_check(tests/moveit_planning_execution.xml) 11 | endif() 12 | 13 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 14 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_e_moveit_config/tests/moveit_planning_execution.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur5_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | if (CATKIN_ENABLE_TESTING) 9 | find_package(roslaunch REQUIRED) 10 | roslaunch_add_file_check(tests/moveit_planning_execution.xml) 11 | endif() 12 | 13 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 14 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: arm_controller 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | #manipulator: 2 | # kinematics_solver: ur_kinematics/UR5KinematicsPlugin 3 | # kinematics_solver_search_resolution: 0.005 4 | # kinematics_solver_timeout: 0.005 5 | # kinematics_solver_attempts: 3 6 | manipulator: 7 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/ros_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt-specific simulation settings 2 | moveit_sim_hw_interface: 3 | joint_model_group: controllers_initial_group_ 4 | joint_model_group_pose: controllers_initial_pose_ 5 | # Settings for ros_control control loop 6 | generic_hw_control_loop: 7 | loop_hz: 300 8 | cycle_time_error_threshold: 0.01 9 | # Settings for ros_control hardware interface 10 | hardware_interface: 11 | joints: 12 | - shoulder_pan_joint 13 | - shoulder_lift_joint 14 | - elbow_joint 15 | - wrist_1_joint 16 | - wrist_2_joint 17 | - wrist_3_joint 18 | - robotiq_85_left_knuckle_joint 19 | sim_control_mode: 1 # 0: position, 1: velocity 20 | # Publish all joint states 21 | # Creates the /joint_states topic necessary in ROS 22 | joint_state_controller: 23 | type: joint_state_controller/JointStateController 24 | publish_rate: 50 25 | controller_list: 26 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - {} -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/ur5_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/tests/moveit_planning_execution.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur5_new_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 9 | PATTERN "setup_assistant.launch" EXCLUDE) 10 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: arm_controller 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | 13 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/config/ros_controllers.yaml: -------------------------------------------------------------------------------- 1 | # MoveIt-specific simulation settings 2 | moveit_sim_hw_interface: 3 | joint_model_group: controllers_initial_group_ 4 | joint_model_group_pose: controllers_initial_pose_ 5 | # Settings for ros_control control loop 6 | generic_hw_control_loop: 7 | loop_hz: 300 8 | cycle_time_error_threshold: 0.01 9 | # Settings for ros_control hardware interface 10 | hardware_interface: 11 | joints: 12 | - shoulder_pan_joint 13 | - shoulder_lift_joint 14 | - elbow_joint 15 | - wrist_1_joint 16 | - wrist_2_joint 17 | - wrist_3_joint 18 | - robotiq_85_left_knuckle_joint 19 | sim_control_mode: 1 # 0: position, 1: velocity 20 | # Publish all joint states 21 | # Creates the /joint_states topic necessary in ROS 22 | joint_state_controller: 23 | type: joint_state_controller/JointStateController 24 | publish_rate: 50 25 | controller_list: 26 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - filtered_cloud_topic: filtered_cloud 4 | max_range: 5.0 5 | max_update_rate: 1.0 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | point_cloud_topic: /head_mount_kinect/depth_registered/points 9 | point_subsample: 1 10 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/ur5_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/ur5_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/ur5_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_new_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur5_r2_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | if (CATKIN_ENABLE_TESTING) 9 | find_package(roslaunch REQUIRED) 10 | roslaunch_add_file_check(tests/moveit_planning_execution.xml) 11 | endif() 12 | 13 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 14 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: arm_controller 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | #manipulator: 2 | # kinematics_solver: ur_kinematics/UR5KinematicsPlugin 3 | # kinematics_solver_search_resolution: 0.005 4 | # kinematics_solver_timeout: 0.005 5 | # kinematics_solver_attempts: 3 6 | manipulator: 7 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - {} -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/ur5_r2_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/ur5_r2_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/ur5_r2_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_moveit_config/tests/moveit_planning_execution.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur5_r2_new_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 9 | PATTERN "setup_assistant.launch" EXCLUDE) 10 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: arm_controller 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | 13 | - name: gripper_controller 14 | action_ns: gripper_cmd 15 | type: gripper_action_controller 16 | type: GripperActionController 17 | joints: 18 | - robotiq_85_left_knuckle_joint 19 | 20 | 21 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - filtered_cloud_topic: filtered_cloud 4 | max_range: 5.0 5 | max_update_rate: 1.0 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | point_cloud_topic: /head_mount_kinect/depth_registered/points 9 | point_subsample: 1 10 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/ur5_r2_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/ur5_r2_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/ur5_r2_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_r2_new_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | 3 | project(ur_bringup) 4 | 5 | find_package(catkin REQUIRED) 6 | 7 | catkin_package() 8 | 9 | if (CATKIN_ENABLE_TESTING) 10 | find_package(roslaunch REQUIRED) 11 | roslaunch_add_file_check(tests/roslaunch_test.xml) 12 | endif() 13 | 14 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur_bringup 4 | 1.2.5 5 | The ur_bringup package 6 | 7 | Wim Meeussen 8 | Shaun Edwards 9 | Felix Messmer 10 | G.A. vd. Hoorn 11 | Miguel Prada Sarasola 12 | Nadia Hammoudeh Garcia 13 | 14 | BSD 15 | http://ros.org/wiki/ur_bringup 16 | 17 | catkin 18 | roslaunch 19 | tf2_ros 20 | ur_description 21 | ur_driver 22 | robot_state_publisher 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/launch/ur10_upload.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/launch/ur3_upload.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/launch/ur5_r2_upload.launch: 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Hoorn 14 | Miguel Prada Sarasola 15 | Nadia Hammoudeh Garcia 16 | 17 | BSD 18 | 19 | http://ros.org/wiki/ur_description 20 | 21 | catkin 22 | joint_state_publisher 23 | robot_state_publisher 24 | rviz 25 | urdf 26 | xacro 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | true 8 | 9 | 10 | true 11 | 12 | 13 | true 14 | 15 | 16 | true 17 | 18 | 19 | true 20 | 21 | 22 | true 23 | 24 | 25 | true 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur10_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur3_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur5_r2_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur5_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur_driver) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure) 8 | 9 | catkin_python_setup() 10 | 11 | 12 | generate_dynamic_reconfigure_options( 13 | cfg/URDriver.cfg 14 | ) 15 | 16 | ################################### 17 | ## catkin specific configuration ## 18 | ################################### 19 | catkin_package( 20 | CATKIN_DEPENDS dynamic_reconfigure 21 | ) 22 | 23 | ############# 24 | ## Install ## 25 | ############# 26 | install(PROGRAMS test_move.py test_io.py 27 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 28 | ) 29 | 30 | install(PROGRAMS src/ur_driver/driver.py 31 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 32 | ) 33 | 34 | install(FILES prog prog_reset 35 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 36 | ) 37 | 38 | ############# 39 | ## Testing ## 40 | ############# 41 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/cfg/URDriver.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "ur_driver" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("prevent_programming", bool_t, 0, "Prevent driver from continuously uploading 'prog'", False) 9 | 10 | exit(gen.generate(PACKAGE, "ur_driver", "URDriver")) 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/prog_reset: -------------------------------------------------------------------------------- 1 | def resetProg(): 2 | sleep(0.0) 3 | end 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | d = generate_distutils_setup( 7 | ## don't do this unless you want a globally visible script 8 | # scripts=['bin/myscript'], 9 | packages=['ur_driver'], 10 | package_dir={'': 'src'} 11 | ) 12 | 13 | setup(**d) 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/src/ur_driver/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/universal_robot/universal_robot/ur_driver/src/ur_driver/__init__.py -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/test_io.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import time 3 | from ur_driver.io_interface import * 4 | 5 | if __name__ == "__main__": 6 | print "testing io-interface" 7 | get_states() 8 | print "listener has been activated" 9 | set_states() 10 | print "service-server has been started" 11 | while(True): 12 | set_tool_voltage(12) 13 | set_digital_out(0, True) 14 | set_analog_out(0, 0.75) 15 | #print "Flags are currently not supported" 16 | ##set_flag(0, True) 17 | ##print(Flag_States[0]) 18 | print(Analog_Out_States[0]) 19 | print(Digital_Out_States[0]) 20 | time.sleep(1) 21 | set_tool_voltage(24) 22 | set_digital_out(0, False) 23 | set_analog_out(0, 0.25) 24 | #print "Flags are currently not supported" 25 | ##set_flag(0, False) 26 | ##print(Flag_States[0]) 27 | print(Analog_Out_States[0]) 28 | print(Digital_Out_States[0]) 29 | time.sleep(1) 30 | 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ur_e_description 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.2.5 (2019-04-05) 6 | ------------------ 7 | * First release (of this package) 8 | * Update maintainer listing: add Miguel (`#410 `_) 9 | * UR-E Series (`#380 `_) 10 | * Contributors: Dave Niewinski, gavanderhoorn 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur_e_description) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package( 7 | # INCLUDE_DIRS include 8 | # LIBRARIES ur_e_description 9 | # CATKIN_DEPENDS urdf 10 | # DEPENDS system_lib 11 | ) 12 | 13 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 14 | install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/launch/ur10e_upload.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/launch/ur3e_upload.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/launch/ur5e_upload.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/launch/view_ur10e.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/launch/view_ur3e.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 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| 2 | 3 | ur_e_description 4 | 1.2.5 5 | 6 | URDF description for Universal UR5/10 robot arms 7 | 8 | 9 | Wim Meeussen 10 | Kelsey Hawkins 11 | Mathias Ludtke 12 | Felix Messmer 13 | G.A. vd. Hoorn 14 | Miguel Prada Sarasola 15 | Nadia Hammoudeh Garcia 16 | 17 | BSD 18 | 19 | http://ros.org/wiki/ur_e_description 20 | 21 | catkin 22 | joint_state_publisher 23 | robot_state_publisher 24 | rviz 25 | urdf 26 | xacro 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/urdf/common.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/urdf/ur.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | true 8 | 9 | 10 | true 11 | 12 | 13 | true 14 | 15 | 16 | true 17 | 18 | 19 | true 20 | 21 | 22 | true 23 | 24 | 25 | true 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/urdf/ur10e_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/urdf/ur3e_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_description/urdf/ur5e_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ur_e_gazebo 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.2.5 (2019-04-05) 6 | ------------------ 7 | * First release (of this package) 8 | * Update maintainer listing: add Miguel (`#410 `_) 9 | * UR-E Series (`#380 `_) 10 | * Contributors: Dave Niewinski, gavanderhoorn 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | 3 | project(ur_e_gazebo) 4 | 5 | find_package(catkin REQUIRED) 6 | 7 | catkin_package() 8 | 9 | if (CATKIN_ENABLE_TESTING) 10 | find_package(roslaunch REQUIRED) 11 | roslaunch_add_file_check(tests/roslaunch_test.xml) 12 | endif() 13 | 14 | install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/controller/arm_controller_ur10e.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 25 21 | action_monitor_rate: 10 22 | joint_group_position_controller: 23 | type: position_controllers/JointGroupPositionController 24 | joints: 25 | - shoulder_pan_joint 26 | - shoulder_lift_joint 27 | - elbow_joint 28 | - wrist_1_joint 29 | - wrist_2_joint 30 | - wrist_3_joint 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/controller/arm_controller_ur3e.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 25 21 | action_monitor_rate: 10 22 | joint_group_position_controller: 23 | type: position_controllers/JointGroupPositionController 24 | joints: 25 | - shoulder_pan_joint 26 | - shoulder_lift_joint 27 | - elbow_joint 28 | - wrist_1_joint 29 | - wrist_2_joint 30 | - wrist_3_joint 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/controller/arm_controller_ur5e.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 25 21 | action_monitor_rate: 10 22 | joint_group_position_controller: 23 | type: position_controllers/JointGroupPositionController 24 | joints: 25 | - shoulder_pan_joint 26 | - shoulder_lift_joint 27 | - elbow_joint 28 | - wrist_1_joint 29 | - wrist_2_joint 30 | - wrist_3_joint 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/controller/joint_state_controller.yaml: -------------------------------------------------------------------------------- 1 | joint_state_controller: 2 | type: joint_state_controller/JointStateController 3 | publish_rate: 50 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/launch/controller_utils.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/launch/ur10e_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/launch/ur3e_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/launch/ur5e_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_e_gazebo/tests/roslaunch_test.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | 3 | project(ur_gazebo) 4 | 5 | find_package(catkin REQUIRED) 6 | 7 | catkin_package() 8 | 9 | if (CATKIN_ENABLE_TESTING) 10 | find_package(roslaunch REQUIRED) 11 | roslaunch_add_file_check(tests/roslaunch_test.xml) 12 | endif() 13 | 14 | install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/arm_controller_ur10.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 25 21 | action_monitor_rate: 10 22 | joint_group_position_controller: 23 | type: position_controllers/JointGroupPositionController 24 | joints: 25 | - shoulder_pan_joint 26 | - shoulder_lift_joint 27 | - elbow_joint 28 | - wrist_1_joint 29 | - wrist_2_joint 30 | - wrist_3_joint 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/arm_controller_ur3.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 25 21 | action_monitor_rate: 10 22 | joint_group_position_controller: 23 | type: position_controllers/JointGroupPositionController 24 | joints: 25 | - shoulder_pan_joint 26 | - shoulder_lift_joint 27 | - elbow_joint 28 | - wrist_1_joint 29 | - wrist_2_joint 30 | - wrist_3_joint 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/joint_state_controller.yaml: -------------------------------------------------------------------------------- 1 | joint_state_controller: 2 | type: joint_state_controller/JointStateController 3 | publish_rate: 50 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/ur5_gripper_controller.yaml: -------------------------------------------------------------------------------- 1 | 2 | 3 | # Gripper controller 4 | gripper_controller: 5 | type: position_controllers/GripperActionController 6 | joint: robotiq_85_left_knuckle_joint 7 | action_monitor_rate: 20 8 | goal_tolerance: 0.002 9 | max_effort: 100 10 | stall_velocity_threshold: 0.001 11 | stall_timeout: 1.0 12 | 13 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/ur5_r2_gripper_controller.yaml: -------------------------------------------------------------------------------- 1 | 2 | 3 | # Gripper controller 4 | gripper_controller2: 5 | type: position_controllers/GripperActionController 6 | joint: robotiq_85_left_knuckle_joint 7 | action_monitor_rate: 20 8 | goal_tolerance: 0.002 9 | max_effort: 100 10 | stall_velocity_threshold: 0.001 11 | stall_timeout: 1.0 12 | 13 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/controller_utils.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/controller_utils_r2.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur10_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur3_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur5_gripper_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 18 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur5_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur5_r2_gripper_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur5_r2_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/tests/roslaunch_test.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_kinematics/setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | d = generate_distutils_setup( 7 | ## don't do this unless you want a globally visible script 8 | # scripts=['bin/myscript'], 9 | packages=['ur_kinematics'], 10 | package_dir={'': 'src'} 11 | ) 12 | 13 | setup(**d) 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_kinematics/src/ur_kinematics/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/universal_robot/universal_robot/ur_kinematics/src/ur_kinematics/__init__.py -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/Analog.msg: -------------------------------------------------------------------------------- 1 | uint8 pin 2 | float32 state 3 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/Digital.msg: -------------------------------------------------------------------------------- 1 | uint8 pin 2 | bool state 3 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/IOStates.msg: -------------------------------------------------------------------------------- 1 | Digital[] digital_in_states 2 | Digital[] digital_out_states 3 | Digital[] flag_states 4 | Analog[] analog_in_states 5 | Analog[] analog_out_states 6 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/MasterboardDataMsg.msg: -------------------------------------------------------------------------------- 1 | # This data structure contains the MasterboardData structure 2 | # used by the Universal Robots controller 3 | # 4 | # MasterboardData is part of the data structure being send on the 5 | # secondary client communications interface 6 | # 7 | # This data structure is send at 10 Hz on TCP port 30002 8 | # 9 | # Documentation can be found on the Universal Robots Support site, article 10 | # number 16496. 11 | 12 | uint32 digital_input_bits 13 | uint32 digital_output_bits 14 | int8 analog_input_range0 15 | int8 analog_input_range1 16 | float64 analog_input0 17 | float64 analog_input1 18 | int8 analog_output_domain0 19 | int8 analog_output_domain1 20 | float64 analog_output0 21 | float64 analog_output1 22 | float32 masterboard_temperature 23 | float32 robot_voltage_48V 24 | float32 robot_current 25 | float32 master_io_current 26 | uint8 master_safety_state 27 | uint8 master_onoff_state 28 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/RobotModeDataMsg.msg: -------------------------------------------------------------------------------- 1 | # This data structure contains the RobotModeData structure 2 | # used by the Universal Robots controller 3 | # 4 | # This data structure is send at 10 Hz on TCP port 30002 5 | # 6 | # Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset. 7 | 8 | uint64 timestamp 9 | bool is_robot_connected 10 | bool is_real_robot_enabled 11 | bool is_power_on_robot 12 | bool is_emergency_stopped 13 | bool is_protective_stopped 14 | bool is_program_running 15 | bool is_program_paused 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/RobotStateRTMsg.msg: -------------------------------------------------------------------------------- 1 | # Data structure for the realtime communications interface (aka Matlab interface) 2 | # used by the Universal Robots controller 3 | # 4 | # This data structure is send at 125 Hz on TCP port 30003 5 | # 6 | # Dokumentation can be found on the Universal Robots Support Wiki 7 | # (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9) 8 | 9 | float64 time 10 | float64[] q_target 11 | float64[] qd_target 12 | float64[] qdd_target 13 | float64[] i_target 14 | float64[] m_target 15 | float64[] q_actual 16 | float64[] qd_actual 17 | float64[] i_actual 18 | float64[] tool_acc_values 19 | float64[] tcp_force 20 | float64[] tool_vector 21 | float64[] tcp_speed 22 | float64 digital_input_bits 23 | float64[] motor_temperatures 24 | float64 controller_timer 25 | float64 test_value 26 | float64 robot_mode 27 | float64[] joint_modes 28 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/ToolDataMsg.msg: -------------------------------------------------------------------------------- 1 | # This data structure contains the ToolData structure 2 | # used by the Universal Robots controller 3 | 4 | int8 ANALOG_INPUT_RANGE_CURRENT = 0 5 | int8 ANALOG_INPUT_RANGE_VOLTAGE = 1 6 | 7 | int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_* 8 | int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_* 9 | float64 analog_input2 10 | float64 analog_input3 11 | float32 tool_voltage_48v 12 | uint8 tool_output_voltage 13 | float32 tool_current 14 | float32 tool_temperature 15 | 16 | uint8 TOOL_BOOTLOADER_MODE = 249 17 | uint8 TOOL_RUNNING_MODE = 253 18 | uint8 TOOL_IDLE_MODE = 255 19 | 20 | uint8 tool_mode # one of TOOL_* 21 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur_msgs 4 | 1.2.5 5 | The ur_msgs package 6 | 7 | Andrew Glusiec 8 | Felix Messmer 9 | G.A. vd. Hoorn 10 | Miguel Prada Sarasola 11 | Nadia Hammoudeh Garcia 12 | 13 | BSD 14 | 15 | catkin 16 | message_generation 17 | std_msgs 18 | message_runtime 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/srv/SetPayload.srv: -------------------------------------------------------------------------------- 1 | float32 payload 2 | ----------------------- 3 | bool success 4 | -------------------------------------------------------------------------------- /ur5_notebook/blocks_poses.msg: -------------------------------------------------------------------------------- 1 | # message type to describe 3-D position of the cylinder blocks 2 | # variable length array, length decided by topic /current_cylinder_blocks 3 | # to be published as a topic 4 | 5 | float64[] x # x coordinate in the world 6 | float64[] y # y coordinate in the world 7 | float64[] z # z coordinate in the world 8 | -------------------------------------------------------------------------------- /ur5_notebook/fixed_tf_broadcaster.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python2 2 | import roslib 3 | roslib.load_manifest('ur5_notebook') 4 | 5 | import rospy 6 | import tf 7 | 8 | if __name__ == '__main__': 9 | rospy.init_node('broadcaster_fixed') 10 | br = tf.TransformBroadcaster() 11 | rate = rospy.Rate(10.0) 12 | while not rospy.is_shutdown(): 13 | br.sendTransform((0.0, 2.0, 0.0), 14 | (0.0, 0.0, 0.0, 1.0), 15 | rospy.Time.now(), 16 | "robot1_tf/world", 17 | "world") 18 | rate.sleep() -------------------------------------------------------------------------------- /ur5_notebook/fixed_tf_broadcaster2.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python2 2 | import roslib 3 | roslib.load_manifest('ur5_notebook') 4 | 5 | import rospy 6 | import tf 7 | 8 | if __name__ == '__main__': 9 | rospy.init_node('broadcaster_fixed_2') 10 | br = tf.TransformBroadcaster() 11 | rate = rospy.Rate(10.0) 12 | while not rospy.is_shutdown(): 13 | br.sendTransform((0.0, 2.0, 0.0), 14 | (0.0, 0.0, 0.0, 1.0), 15 | rospy.Time.now(), 16 | "robot2_tf/world", 17 | "world") 18 | rate.sleep() -------------------------------------------------------------------------------- /ur5_notebook/frames.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task/586645b7528057d3d342e2967e81e29e650ec437/ur5_notebook/frames.pdf -------------------------------------------------------------------------------- /ur5_notebook/launch/initialize.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | model://ground_plane 8 | 9 | 10 | 11 | 12 | model://sun 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ur5_notebook/msg/Tracker.msg: -------------------------------------------------------------------------------- 1 | # message type to describe the tracking information of the blocks 2 | # to be published as a topic 3 | 4 | float64 x_r1 # x coordinate in the world 5 | float64 y_r1 # y coordinate in the world 6 | float64 z_r1 # z coordinate in the world 7 | float64 error_x_r1 8 | float64 error_y_r1 9 | float64 error_z_r1 10 | float64 x_r2 # x coordinate in the world 11 | float64 y_r2 # y coordinate in the world 12 | float64 z_r2 # z coordinate in the world 13 | float64 error_x_r2 14 | float64 error_y_r2 15 | float64 error_z_r2 16 | bool flag1_r1 17 | bool flag2_r1 18 | bool flag3_r1 19 | bool flag1_r2 20 | bool flag2_r2 21 | bool flag3_r2 22 | 23 | -------------------------------------------------------------------------------- /ur5_notebook/msg/Tracker2.msg: -------------------------------------------------------------------------------- 1 | # message type to describe the tracking information of the blocks 2 | # to be published as a topic 3 | 4 | float64 x # x coordinate in the world 5 | float64 y # y coordinate in the world 6 | float64 z # z coordinate in the world 7 | float64 error_x 8 | float64 error_y 9 | float64 error_z 10 | bool flag1 11 | bool flag2 12 | bool flag3 -------------------------------------------------------------------------------- /ur5_notebook/msg/Tracker2_second.msg: -------------------------------------------------------------------------------- 1 | # message type to describe the tracking information of the blocks 2 | # to be published as a topic 3 | 4 | float64 x # x coordinate in the world 5 | float64 y # y coordinate in the world 6 | float64 z # z coordinate in the world 7 | float64 error_x 8 | float64 error_y 9 | float64 error_z 10 | bool flag1 11 | bool flag2 12 | bool flag3 -------------------------------------------------------------------------------- /ur5_notebook/msg/blocks_poses.msg: -------------------------------------------------------------------------------- 1 | # message type to describe 3-D position of the cylinder blocks 2 | # variable length array, length decided by topic /current_cylinder_blocks 3 | # to be published as a topic 4 | 5 | float64[] x # x coordinate in the world 6 | float64[] y # y coordinate in the world 7 | float64[] z # z coordinate in the world 8 | -------------------------------------------------------------------------------- /ur5_notebook/msg/blocks_poses_copy.msg: -------------------------------------------------------------------------------- 1 | # message type to describe 3-D position of the cylinder blocks 2 | # variable length array, length decided by topic /current_cylinder_blocks 3 | # to be published as a topic 4 | 5 | float64[] x # x coordinate in the world 6 | float64[] y # y coordinate in the world 7 | float64[] z # z coordinate in the world 8 | -------------------------------------------------------------------------------- /ur5_notebook/src/gazebo_test/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | test 5 | model.sdf 6 | 7 | 8 | 9 | Haoran Zhao 10 | hzhao9@uh.edu 11 | 12 | 13 | 14 | roller conveyor 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ur5_notebook/src/testvision.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # BEGIN ALL 3 | import rospy 4 | from sensor_msgs.msg import Image 5 | import cv2, cv_bridge 6 | 7 | class Follower: 8 | def __init__(self): 9 | self.bridge = cv_bridge.CvBridge() 10 | self.image_sub = rospy.Subscriber('/ur5/usbcam/image_raw', 11 | Image, self.image_callback) 12 | def image_callback(self, msg): 13 | image = self.bridge.imgmsg_to_cv2(msg,desired_encoding='bgr8') 14 | cv2.namedWindow("window", 1) 15 | cv2.imshow("window", image) 16 | cv2.waitKey(5) 17 | 18 | rospy.init_node('follower') 19 | follower = Follower() 20 | rospy.spin() 21 | # END ALL 22 | -------------------------------------------------------------------------------- /ur5_notebook/src/ur_description/orig/common.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /ur5_notebook/urdf/readme.txt: -------------------------------------------------------------------------------- 1 | 2 | URDF can not specify the pose of the robot itself within a world. It is also not a universal description format since it cannot specify joint loops (parallel linkages), and it lacks friction and other properties. Additionally, it cannot specify things that are not robots, such as lights, heightmaps, etc. 3 | 4 | SDF has been tried to specify friction in the model, but it turns out friction can be determined with a gazebo plugin. Check the urdf file of conveyor belt for details. 5 | 6 | 7 | -------------------------------------------------------------------------------- /ur5_notebook/urdf/red_box.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 26 | 27 | 28 | 29 | 30 | Gazebo/Red 31 | 5 32 | 5 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /ur5_notebook/urdf/red_cylinder.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 26 | 27 | 28 | 29 | 30 | Gazebo/Red 31 | 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /ur5_notebook/urdf/sdf/conveyor_belt.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Conveyor belt 4 | 1.0 5 | model.sdf 6 | 7 | 8 | Carlos Aguero 9 | caguero@osrfoundation.org 10 | 11 | 12 | 13 | Conveyor belt. 14 | 15 | 16 | --------------------------------------------------------------------------------