Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper

Simulation video Hardware video

• How to cite this repository:

    Huang, L., Zhao, H., Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper, (2018), GitHub repository, https://github.com/lihuang3/ur3_ROS-hardware
  

  or BibTex

    @misc{Huang2018,
      author = {Huang, L., Zhao, H.},
      title = {Universal Robot (UR3) Pick and Place Hardware Implementation with ROS using a USB Cam and an Electromagnetic Gripper},
      year = {2018},
      publisher = {GitHub},
      journal = {GitHub repository},
      howpublished = {\url{https://github.com/lihuang3/ur3_ROS-hardware}}
    }
  

1. Connecting Universal Robot (UR3) to PC (Ubuntu 16.04)

1.1 Configure your hardware

Follow the steps on the official website "Getting Started with a Universal Robot and ROS-Industrial" to set up network using a router.

Download the repo ur_modern_driver to src in your Universal Robot workspace, and catkin_make. If there is hardware interface error during catkin make, replace ur_hardware_interface.cpp in ur_modern_driver

To connect your PC and an UR3, run the following launch file, (you need to source devel/setup.bash first, and go to each folder that includes the launch file to launch it)

  roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=ROBOT_IP_ADDRESS

  roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch

  roslaunch ur3_moveit_config moveit_rviz.launch config:=true

You may need to change your joint limit file before you run any motion planning program on the hardware. (Example)

2. Image Processing

3. ROS-Arduino

3.1

official tutorial Generating Message Header File

After you download rosserial, to generate custom messages you should follow the following step:

  cd <your workspace>
  source devel/setup.bash
  rosrun rosserial_arduino make_libraries.py /home/<username>/arduino-1.8.5/libraries

you can check you custom message folder at /home//arduino-1.8.5/libraries/ros_lib/ur5_notebook (or ur3_hardware)

To use arduino subscribe ROS topic: Template for a ROS Subscriber Using rosserial on Arduino

1. compile /ur3_hardware/arduino_gripper/arduino_gripper.ino in Arduino IDE, and uplaod to board
2. Open a new Terminal and run initialize.roslaunch
3. Open another Terminal and start the subscriber node by typing the following command:

cd <your workspace>
source devel/setup.bash
rosrun rosserial_python serial_node.py /dev/ttyACM1

4. In Arduino IDE open serial monitor