Installation

This package is meant to be used within a catkin workspace inside of the bwi-docker repository.

Follow the install and setup instructions to configure the docker.

Once installed, navigate to the bwi-docker projects folder and download the arm package into your workspace:

user@pc:~/bwi-docker$ cd projects
user@pc:~/bwi-docker/projects$ mkdir -p catkin_ws/src
user@pc:~/bwi-docker/projects$ cd catkin_ws/src
user@pc:~/bwi-docker/projects/catkin_ws/src$ git clone https://github.com/caseycharleston/v5_ur5arm.git

Dependencies

The ur5_robotiq_gripper.urdf.xacro file in ur5_description/urdf requires the related robotiq gripper URDF files to be installed.

Install the robotiq repository:

user@pc:~/bwi-docker/projects/catkin_ws/src$ git clone https://github.com/filesmuggler/robotiq.git

Once installed, there is one edit you need to make before running. Navigate to robotiq_85_gripper.transmission.xacro in robotiq/robotiq_description/urdf and make the following edits:

1. uncomment lines 10 and 15
2. comment lines 9 and 14

So it resembles this (lines 6 - 17):

    <transmission name="${prefix}robotiq_85_left_knuckle_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}robotiq_85_left_knuckle_joint">
        <!-- <hardwareInterface>PositionJointInterface</hardwareInterface> -->
        <hardwareInterface>EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}robotiq_85_left_knuckle_motor">
        <mechanicalReduction>1</mechanicalReduction>
        <!-- <hardwareInterface>PositionJointInterface</hardwareInterface> -->
        <hardwareInterface>EfforJointInterface</hardwareInterface>
      </actuator>
    </transmission>

This will put the gripper's primary joint on the correct interface so it can be used for simulation.

Building

Building this package requires the use of the bwi-docker bash tools. For descriptions of their usage, see the bwi-docker usage section.

Start the docker environment:

user@pc:~/bwi-docker$ bwi-start
user@pc:~/bwi-docker$ bwi-shell

build necessary packages with catkin:

root@root:~/projects$ cd catkin_ws
root@root:~/projects/catkin_ws$ catkin_make

Testing

To ensure that the the package was installed successfully, run the gazebo demo launch file within the ur5_moveit_config package. Before running this, make sure you first do the building instructions in the previous section.

root@root:~/projects/catkin_ws$ source devel/setup.bash
root@root:~/projects/catkin_ws$ roslaunch ur5_moveit_config demo_gazebo.launch