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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}}
    }
  

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)

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