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This project integrates a ROS 2 development environment with Docker and provides packages for the description and simulation of the UR5 workbench, developed by the Paris Robotics Lab and referred to as Mantis.
This package provides a Docker environment for developing with ROS 2 (jazzy), including the UR Driver to interact with UR robots (UR3, UR5, UR10, etc.). The container is configured to work with these robots and includes all necessary tools for simulation and communication with both physical and simulated robots.
The prl_ur5_description package provides the Mantis description, including 3D models files necessary for visualizing and simulating the UR5 robot in a ROS 2 environment.
The prl_ur5_gazebo package provides the Mantis launch and files, necessary for simulating the UR5 robot in Gazebo.
The prl_ur5_control package provides configuration files for ROS 2 controllers and launch files to spawn the Mantis parts' different controllers.
The prl_ur5_moveit package provides configuration and launch files to control the UR5 robot using various path planning solvers in ROS 2 with MoveIt.
The prl_ur5_run package provides a launch file to access the real robot by starting the driver and enabling control.
- Docker must be installed on your machine (Tested on
linux/amd64, not supported on ARM). - A compatible version of ROS 2 (Humble) must be installed and configured.
- Gazebo for simulating the UR5 robot (if you intend to use simulation).
Follow the steps below to set up the prl packages. These steps can be performed both inside and outside the Docker container. Ensure that the setup is done in the shared folder to maintain consistency and accessibility.
Note: Before proceeding with the setup, ensure you follow good practices for organizing your ROS 2 workspace. Create a folder to contain all your ROS 2 setup files. You can name it as you prefer, but in this guide, we will use
ws. Inside this folder, create another folder namedsrcto hold the source files.
To create these folders, use the following commands:
mkdir -p ws/srcThis will create the ws directory in your home folder and the src directory inside it.
cd ws/src
git clone https://github.com/inria-paris-robotics-lab/prl_ur5_ros2.gitThe prl_ur5_description package requires the following dependencies:
- prl_ur5_robot_configuration
- universal_robot_description
- universal_robot_gazebo
- rq_fts_ros2_driver
- realsense-ros
- weiss_wsg50_ros
These packages provide configuration files, robot descriptions, simulation models, and force-torque sensor drivers that are necessary for the UR5 robot to operate properly in a ROS2 ecosystem.
To install these dependencies, clone them into your workspace using the following commands:
cd ~/ws/src
git clone -b ros2 https://github.com/inria-paris-robotics-lab/prl_ur5_robot_configuration.git
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
git clone https://github.com/panagelak/rq_fts_ros2_driver.git
git clone -b ros2 https://github.com/inria-paris-robotics-lab/onrobot_ros.git
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-master
git clone https://github.com/inria-paris-robotics-lab/wsg50-ros-pkg.gitAfter cloning the dependencies, check and install others dependencies linked to each packages with rosdep:
cd ~/ws
sudo apt update
rosdep init
rosdep update
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -yAfter you had installed all dependencies you can build every packages with 'colcon':
colcon build --symlink-install --packages-skip onrobot_control onrobot_gazebo onrobot_ros robotiq_ft_sensor_hardware realsense2_cameraOnce the build process is finished, source your workspace so that ROS 2 recognizes the new packages:
source install/setup.bashBefore using Mantis, you need to make a few modifications to the configuration.
To configure your setup, edit the standard_setup.yaml file in the prl_ur5_robot_configuration package. Update the following parameters to match your hardware and network setup:
- IP Address and Ports: Specify the network interface and ports for the robot.
- Cameras: Configure the hand-eye cameras, including their model and pose.
- Gripper Type: Define the type of gripper being used and its corresponding controller.
- Fixed Camera: Set up any fixed cameras required for your application.
Ensure all parameters are correctly adjusted to reflect your specific setup.
ros2 launch prl_ur5_description view_mantis.launch.pyTo simulate Mantis in Gazebo and visualize it in RViz, use the following command:
ros2 launch prl_ur5_gazebo start_gazebo_sim.launch.pyTo use MoveIt with the Mantis, you can launch the simulation with the following command:
ros2 launch prl_ur5_run sim.launch.pyAlternatively, you can customize the launch by enabling or disabling specific components such as RViz, Gazebo GUI, or MoveIt. Use the following command with the desired parameters:
ros2 launch prl_ur5_run sim.launch.py launch_rviz:=<true|false> gazebo_gui:=<true|false> launch_moveit:=<true|false>Replace <true|false> with true to enable or false to disable each component as needed.
To use the UR5 robot with a real setup, you need to modify the robot's network information in the standard setup file of the prl_ur5_robot_configuration package.
Use the following command to launch control of the real robot with moveit:
ros2 launch prl_ur5_run real.launch.pyAlternatively, you can customize the launch by enabling or disabling specific components such as RViz or MoveIt. Use the following command with the desired parameters:
ros2 launch prl_ur5_run real.launch.py launch_rviz:=<true|false> launch_moveit:=<true|false>Replace <true|false> with true to enable or false to disable each component as needed.
For users intending to use the setup locally:
- ROS 2 Version: Ensure you are using a compatible version of ROS 2. This guide assumes ROS 2 Humble.
- Gazebo: Verify that Gazebo is installed and properly configured to work with ROS 2 for simulation purposes.
Dependency Issues: If you face any issues with dependencies, refer to the individual documentation or open an issue in the relevant repository.