How to Use UR3e Trajectory Simulator

Step 1: Generating .csv of Joint Angle trajectory

As a baseline, feel free to use the following link to generate a custom Lissajous curve here

To generate a trajectory .csv based on a custom Lissajous curve, change the parameters on Lines 621-653 of the custom_trajectory_generator.py script.

To generate a trajectory .csv using your own custom curve, you can write additional helper functions to do so. See the get_letter_trajectory() function and uncomment lines 656-661 for reference

After setting up parameters, generate your csv by running the following within the UR3e_ROS_Trajectory_Simulator/python_scripts directory:

python3 custom_trajectory_generator.py

It may take up to a few minutes to generate the csv depending on how complex your curve is.

(optional) Additional parameters such as end-effector configuration tolerances can also be edited within the python script.

Step 2: Simulating Trajectory in RVIZ

For Step 2, you will need to download and build the packages within the ws3 workspace, which have been provided for you.

You can build and source the workspace (if this is not working, open a new terminal and try again):

cd ./ws3 && colcon-build --symlink-install && source ./install/setup.bash

It is important that you have only sourced the ws3 workspace. If you see an error message saying there are multiples packages with the same name, this is the issue.

You can run the following command to see if things are working:

ros2 launch msee22_description view_room.launch.py

Copy and paste your custom_trajectory.csv file into the ws3/src/py_joint_pub/py_joint_pub/resource folder. Finally, rebuild the package and source your workspace. You can visualize your robot's trajectory with

ros2 launch msee22_description move_robot.launch.py