README.md

ROS package to interface ati f/t sensor with UR10 arm via Labjack DAQ U6

Dependencies required:

ROS noetic

Universal_Robots_ROS_Driver

ur_robot_driver

Labjack Exodriver

Labjack Python package

pip install LabJackPython

Description:

This repository is used to collect data from a mini45 ati f/t sensor via a Labjack U6 daq. The sensor data is stream via USB interface which provides flexibility to integrate other custom sensors. This repo works in conjunction with the modified ur_robot_driver above to work with the current robot arm setup. Please replace the preinstalled ur_robot_driver package from Universal_Robots_ROS_Driver with the modified version above.

Building

# Install ROS noetic
http://wiki.ros.org/noetic/Installation/Ubuntu

# source global ros
$ source /opt/ros/noetic/setup.bash

# create a catkin workspace
$ mkdir -p catkin_ws/src && cd catkin_ws

# clone the driver
$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver

# install dependencies
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y

# build the workspace
$ catkin_make

# activate the workspace (ie: source it)
$ source devel/setup.bash