ur5_ws

This repo contains ROS-Kinetic packages for kinematic simulations of Universal Robot UR5

BUILD AND SOURCE THE SETUP FILES (NEED TO BE DONE EVERYTIME YOU OPEN A TERMINAL)

$ cd ur5_ws-master

$ catkin_make

$ source devel/setup.bash

Start the simulation with GUI to control joint values to get a feel of the simulation

$ roslaunch ur_description demo.launch

Play around with the sliders and toggle the RobotModel in Rviz to understand the co-ordinate frames

Start the forward kinematics simulation

Converts joint positions into end effector position

$ cd ur5_ws-master/src/forward-kinematics/scripts

$ chmod +x fwk.py

$ roslaunch forward_kinematics fwk.launch

Toggle the RobotModel in RVIZ to understand the Coordinate frames

Start the Cartesian Control simulation

Converts cartesian position and orientation of the interactive markers into joint velocities of the UR5 robot to make the end effector align with the interactive marker

$ roslaunch cartesian_control cartesianControl.launch

Under 'Global' options of Display panel in Rviz change 'Fixed Frame' to 'World'

In the Dispaly panel select 'Add' --> 'InteractiveMarkers' --> 'Ok'

Under 'InteractiveMarkers' of Display panel in Rviz change 'Update Topic' to '/control_markers/update'

Change the position and orientation of interactive markers so that the end effector of UR5 follows.