ur5_allegro_moveit

Moveit package for ur5 & allegro combined.

You can launch the MoveIt! and RViz test using:

roslaunch ur5_allegro_moveit demo.launch optoforce:=true

This package is meant to be used with optoforce sensors, but you can disable them via the launch parameter optoforce. In that case MoveIt will give warnings that some links in the collision matrix (e.g. omd_1) does not exist. These warnings can be ignored.

Install

Tested on Ubuntu 18.04, ROS-Melodic

In order to use this package, the following should be installed:

• MoveIt!
• allegro-hand-ros
• Universal_Robots_ROS_Driver (details below)
• optoforce-publisher

Most of these packages are installed for accessing the xacro and urdf files they contain.

Setting up with the ur_robot_driver

Recently, ur_modern_driver has become obsolete, in favor of ur_robot_driver. There are a number of things to configure to be able to control the real robot with the new drivers. The following should be done once for setup:

• Install the ur_robot_driver as described here.
  • Replace universal-robot package with fmauch's fork of universal-robot.
  • Update UR5 robot software as described here, if not done earlier.
  • Install URCal external-control and create the program as described here.
• Modify the controller namespace of controller.yaml

The following must be done each time after starting the robot:

• In control pendant, click run program go to file and choose external-control.urp.
• Start ROS drivers:

  roslaunch ur5_allegro_moveit ur5_allegro_bringup.launch robot_ip:=<your-ip> optoforce:=true
  

• Press play button (▶) in the control pendant.
• See "Robot ready to receive control commands" log.
• Start controlling with Moveit or other.