IoT & Hardware
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You're reading from  Mastering ROS for Robotics Programming. - Second Edition

Product typeBook
Published inFeb 2018
Reading LevelExpert
PublisherPackt
ISBN-139781788478953
Edition2nd Edition
Languages
C++
Tools
ROS
Concepts
Robotics
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Author (1)
Lentin Joseph
Lentin Joseph
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Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

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Getting started with real Universal Robots hardware and ROS-I

After testing our control algorithms in simulation using Gazebo, we can start to perform manipulation tasks with a real Universal Robots arm. The main difference between performing a trajectory simulating the robot and using real hardware, is that we need to start the driver that will contact the arm controller to set the desired joint positions.

The default driver of Universal Robot arms is released with the ur_driver package of ROS-I. This driver has been successfully tested with system versions ranging from v1.5.7 to v1.8.2. The last version of Universal Robot controllers is v3.2, so the default version of the ROS-I driver could be not fully compatible. For the newer versions of these systems (v3.x and up), it is recommended to use the unofficial ur_modern_driver package.

To download ur_modern_driver, use the following Git repository:

$ git clone ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true

After downloading...

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Mastering ROS for Robotics Programming. - Second Edition
Published in: Feb 2018Publisher: PacktISBN-13: 9781788478953
© 2018 Packt Publishing Limited All Rights Reserved

Author (1)

author image
Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

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