UniversalRobots/Universal_Robots_ROS_Tutorials

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Created almost 3 years ago
Updated 6 months ago

UniversalRobots/Universal_Robots_ROS_Tutorials

UniversalRobots

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Tutorials around the Universal Robots ROS (1) ecosystem

Universal_Robots_ROS_Driver

Universal Robots ROS driver supporting CB3 and e-Series

Universal_Robots_ROS2_Driver

Universal Robots ROS2 driver supporting CB3 and e-Series

Universal_Robots_Client_Library

A C++ library for accessing the UR interfaces that facilitate the use of UR robotic manipulators by external applications.

Universal_Robots_ROS2_Description

ROS2 URDF description for Universal Robots

RTDE_Python_Client_Library

RTDE client library and examples

Universal_Robots_ExternalControl_URCap

CB3 and E-Series URCap for the ROS and ROS2 drivers

Universal_Robots_ROS2_Gazebo_Simulation

Universal_Robots_ROS_controllers_cartesian

ROS control hardware interface definitions and controllers for Cartesian control of robot manipulators.

Universal_Robots_Isaac_Driver

Driver enabling NVIDIA Isaac SDK operation of UR robots.

Universal_Robots_ROS2_GZ_Simulation

Universal_Robots_ToolComm_Forwarder_URCap

Utility to forward the UR Tool Communication Interface (RS-485) to a remote PC.

Universal_Robots_ROS_passthrough_controllers

ROS controllers to forward complete trajectories (joint-based and Cartesian) to the robot hardware and leave interpolation to the robot controller.

Universal_Robots_ROS_as_a_Service_URCap

This URCap makes a universal robot part of a ROS system by making ROS calls available inside Polyscope through the rosbridge.

HelloWorldSwing

URCaps Hello World example using Swing UI

Universal_Robots_ROS_cartesian_control_msgs

Message definition for Cartesian trajectories.

PolyScopeX_URCap_SDK

SimpleGripper

Demonstrates how to create a gripper driver contribution for a basic gripper

Universal_Robots_ROS_scaled_controllers

Repository containing the scaling_interface and the scaled trajectory controller.

URScript_Examples

This repository contains different examples for various URScript implementations.

MyDaemonSwing

URCap sample that mainly demonstrates the principle of DaemonContribution and DaemonService

Universal_Robots_ROS2_Tutorials

Tutorials around the Universal Robots ROS 2 ecosystem

URCap-Samples

MyToolbarJog

Example of using the toolbar to incrementally jog the robot in Cartesian space by sending urscript over the primary client interface

Universal_Robots_Client_Library-release

ROS release repository for the client library

CustomUserInput

Demonstrates how to use different types of user inputs for URCap Drivers.

CreateFeatureSwing

Demonstrates how to contribute a Feature to PolyScope as well as how to store a Feature in the data model

ModbusExamples

Example programs, and URScript snippets for Modbus communication,

MyDaemonHTML

URCap sample that mainly demonstrates the principle of DaemonContribution and DaemonService

PickOrPlaceHTML

URCap sample that mainly demonstrates the principle of ProgramModel, TreeNode and ProgramNodeFactory

EllipseHTML

URCap sample that mainly demonstrates the principle of RobotPositionCallback, WaypointNodeConfig and PoseFactory

LocalizationHTML

URCap sample that mainly demonstrates the principle of SystemSettings, Localization and Unit

MoveUntilDetectionSwing

URCap sample to demonstrate the usage of configuration builders for Direction and Until program nodes.

MyToolbar

URCap sample that mainly demonstrates the principle of SwingToolbarService and SwingToolbarContribution

PickOrPlaceSwing

URCap sample that mainly demonstrates the principle of ProgramModel, TreeNode and ProgramNodeFactory

GripAndReleaseSwing

Demonstrates how to use gripper devices in a template program node

ScriptFunctionSwing

URCap sample that mainly demonstrates the principle of Function and FunctionModel

UserInput

URCap sample that mainly demonstrates the principle of KeyboardInput and InputValidationFactory

AdvancedGripper

Demonstrates how to create a gripper driver contribution for a more advanced gripper

ToolIOControlSwing

Demonstrates how to request and configure Tool IO exclusively from URCap