• Stars
    star
    1,082
  • Rank 42,777 (Top 0.9 %)
  • Language
    C++
  • Created over 11 years ago
  • Updated 3 months ago

Reviews

There are no reviews yet. Be the first to send feedback to the community and the maintainers!

Repository Details

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)

Universal Robot

Build Status: Ubuntu Bionic (Actions) Build Status: Ubuntu Focal (Actions)

license - apache 2.0 License

support level: community

ROS-Industrial Universal Robot meta-package. See the ROS wiki page for compatibility information and other more information.

Installation

There are two different ways to install the packages in this repository. The following sections detail installing the packages using the binary distribution and building them from source in a Catkin workspace.

Using apt (Ubuntu, Debian)

On supported Linux distributions (Ubuntu, 18.04 (Bionic) and 20.04 (Focal), i386 and amd64) and ROS versions:

sudo apt-get install ros-$ROS_DISTRO-universal-robots

replace $ROS_DISTRO with melodic or noetic, depending on which ROS version you have installed.

Building from Source

There will soon be releases available for ROS Melodic and Noetic. However, for the latest features and developments you might want to build the packages from source.

NOTE: please prefer using the binary release (see previous section) over building from source where possible. Source installs will not be automatically updated by new package releases and require more work to setup.

The following instructions assume that a Catkin workspace has been created at $HOME/catkin_ws and that the source space is at $HOME/catkin_ws/src. Update paths appropriately if they are different on the build machine.

In all other cases the packages will have to be build from sources in a Catkin workspace:

cd $HOME/catkin_ws/src

# retrieve the sources (replace '$ROS_DISTRO' with the ROS version you are using)
git clone -b $ROS_DISTRO-devel https://github.com/ros-industrial/universal_robot.git

cd $HOME/catkin_ws

# checking dependencies (again: replace '$ROS_DISTRO' with the ROS version you are using)
rosdep update
rosdep install --rosdistro $ROS_DISTRO --ignore-src --from-paths src

# building
catkin_make

# activate this workspace
source $HOME/catkin_ws/devel/setup.bash

Usage

With real Hardware

For using real hardware, please use the ur_robot_driver. Installation and startup instructions are available there separately.

If you have a particular old robot running Software CB1 or CB2, please use the ur_modern_driver instead.

CAUTION: Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens.

MoveIt! with real Hardware Additionally, you can use MoveIt! to control the robot. There exist MoveIt! configuration packages for all robots.

In the following the commands for the UR5 are given. For other robots, simply replace the prefix accordingly.

For setting up the MoveIt! nodes to allow motion planning run e.g.:

roslaunch ur5_moveit_config moveit_planning_execution.launch

For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:

roslaunch ur5_moveit_config moveit_rviz.launch

Usage with Gazebo Simulation There are launch files available to bringup a simulated robot.

Don't forget to source the correct setup shell files and use a new terminal for each command!

To bring up the simulated robot in Gazebo, run:

roslaunch ur_gazebo ur5_bringup.launch

MoveIt! with a simulated robot Again, you can use MoveIt! to control the simulated robot.

For setting up the MoveIt! nodes to allow motion planning run:

roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true

For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:

roslaunch ur5_moveit_config moveit_rviz.launch

More Repositories

1

industrial_training

ROS-Industrial Training Material
C++
422
star
2

ros_qtc_plugin

ROS Qt Creator Plug-in (https://ros-qtc-plugin.readthedocs.io)
C++
397
star
3

ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
C++
339
star
4

ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
C++
302
star
5

kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
C++
268
star
6

industrial_ci

Easy continuous integration repository for ROS repositories
Shell
246
star
7

robotiq

Robotiq packages (http://wiki.ros.org/robotiq)
C++
227
star
8

ros2_i_training

HTML
169
star
9

industrial_core

ROS-Industrial core communication packages (http://wiki.ros.org/industrial_core)
C++
154
star
10

fanuc

ROS-Industrial Fanuc support (http://wiki.ros.org/fanuc)
C++
153
star
11

motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
C++
146
star
12

abb

ROS-Industrial ABB support (http://wiki.ros.org/abb)
C++
145
star
13

ros2_canopen

CANopen driver framework for ROS2
C++
143
star
14

yak

A library for integrating depth images into Truncated Signed Distance Fields.
C++
132
star
15

abb_experimental

Experimental packages for ABB manipulators within ROS-Industrial (http://wiki.ros.org/abb_experimental)
CMake
131
star
16

noether

Tool path planning and surface segmenter
C++
121
star
17

industrial_calibration

Contains libraries/algorithms for calibrating industrial systems
C++
120
star
18

abb_robot_driver

The new ROS driver for ABB robots
C++
100
star
19

reach

A tool that allows users to visualize and quantitatively evaluate the reach capability of a robot system for a given workpiece.
C++
94
star
20

industrial_moveit

ROS-Industrial movit meta-package (http://wiki.ros.org/industrial_moveit)
C++
93
star
21

abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)
C++
93
star
22

abb_librws

A C++ library for interfacing with ABB robot controllers supporting Robot Web Services
C++
69
star
23

robodk_postprocessors

Open-source vendor-specific post-processors/code generators from RoboDK (http://robodk.com)
Python
64
star
24

easy_perception_deployment

A ROS2 package that accelerates the training and deployment of CV models for industries.
Python
54
star
25

industrial_reconstruction

Tools for surface reconstruction from 2D depth images
Python
50
star
26

easy_manipulation_deployment

A ROS2 package that allows rapid digitization of robotic work cells and ease of efficient path-planning of manipulators.
C++
49
star
27

yak_ros

Example ROS frontend node for the Yak TSDF package
C++
48
star
28

cros

A single thread pure C implementation of the ROS framework
C
47
star
29

fanuc_experimental

Experimental packages for Fanuc manipulators within ROS-Industrial (http://wiki.ros.org/fanuc_experimental)
CMake
45
star
30

stomp_ros

ROS packages for the STOMP planner (split out of industrial_moveit)
C++
37
star
31

robot_movement_interface

Drivers implementing the Robot Movement Interface, which allows access to robot specific capabilities in a standardized common format while maintaining compatibility with the ROS-Industrial Joint interface.
C++
36
star
32

human_tracker

Library for detecting and tracking humans using 3D sensing systems (stereo and kinect-like)
36
star
33

flexgui_industrial

Moved to: https://github.com/PPM-Robotics-AS/flexgui4.0
JavaScript
31
star
34

kuka

ROS-Industrial KUKA support (http://wiki.ros.org/kuka)
CMake
30
star
35

abb_driver

(old) ROS driver for ABB IRC5 / RW5 or RW6 controllers (Simple Message & RAPID)
AMPL
29
star
36

staubli_experimental

Experimental packages for Staubli manipulators within ROS-Industrial (http://wiki.ros.org/staubli_experimental)
CMake
27
star
37

staubli_val3_driver

ROS-Industrial (simple message) driver for StΓ€ubli CS8 and CS9 robot controllers (VAL 3 application)
TeX
26
star
38

docker

ROS-Industrial docker and cloud tools
Dockerfile
23
star
39

stomp

Stochastic Trajectory Optimization for Motion Planning (STOMP)
C++
22
star
40

reach_ros2

ROS2 packages for REACH
C++
17
star
41

staubli

ROS-Industrial Staubli support (http://wiki.ros.org/staubli)
C++
17
star
42

ros_industrial_cmake_boilerplate

CMake
16
star
43

packml_ros2

State machine based system programming, monitoring and control in ROS 2
C++
16
star
44

motoman_experimental

Experimental packages for Motoman manipulators within ROS-Industrial
C++
15
star
45

abb_robot_driver_interfaces

ROS message and service definitions for a ROS driver for ABB robots
CMake
13
star
46

rep

ROS-Industrial REPs
12
star
47

crcl

11
star
48

workcell_explorer

Repository for GSoC 2018 focusing on creation of a ROS package for Robotic Workcell exploration
CMake
11
star
49

ur_msgs

ROS messages and services for Universal Robots robot controllers.
CMake
11
star
50

industrial_calibration_tutorials

Tutorials for industrial calibration package.
CMake
11
star
51

keyence_experimental

C++
10
star
52

siemens_tutorials

C++
10
star
53

ros_industrial_meetings

Repository for tracking ROS-Industrial developers meeting minutes
9
star
54

packet-simplemessage

Wireshark Lua dissector for the ROS-Industrial SimpleMessage protocol
Lua
8
star
55

reach_ros

ROS1 Packages for REACH
C++
8
star
56

siemens_experimental

C++
8
star
57

intelligent_actuator

ROS package for serial communication with the Robo Cylinder
Python
8
star
58

swri-ros-pkg

Automatically exported from code.google.com/p/swri-ros-pkg
C++
7
star
59

abb_egm_rws_managers

A C++ library for encapsulating ROS agnostic components for a ROS driver for ABB robots
C++
6
star
60

ros2_quality_assurance_guidelines

A collection of documentation which contains detailed instructions and tutorials for improving ROS 2 package quality, following REP-2004 quality level and integrating CI into one's development workflow.
Python
6
star
61

industrial_pcl_experimental

ROS Industrial addons, utilities, and other libraries that extend or are useful with the Point Cloud Library (PCL)
C++
5
star
62

jenkins_config

Contains jenkins CI configuration scripts.
Python
4
star
63

socketcan_interface

DO NOT USE YET
C++
4
star
64

industrial_experimental

Contains experimental packages for industrial_core.
C++
3
star
65

yak_ros2

Example ROS 2 frontend node for the Yak TSDF package
C++
3
star
66

ros_industrial_issues

Repository for tracking common ROS-Industrial issuses.
3
star
67

tolomatic

C++
2
star
68

industrial_pcl

ROS-Industrial PCL Extension meta-package. http://wiki.ros.org/industrial_pcl
C++
2
star
69

rvip

A ROS package for easy integration of a hybrid 2D-3D robotic vision technique for industrial tasks.
1
star
70

robotiq_experimental

Experimental robotiq packages within ROS-Industrial
C++
1
star
71

siemens_drivers

Open source drivers for Siemens devices
1
star
72

fake_ar_publisher

C++
1
star
73

ros_profinet_experimental

1
star
74

acuity

Support for acuity laser products
Python
1
star
75

error_resolution_diagnoser

C++
1
star
76

fanuc_demos

Demos of ROS(-Industrial) functionality specifically for (simulated) Fanuc robots
1
star
77

industrial_calibration_ros2

ROS Utilities for Industrial Calibration
Python
1
star
78

epd_onnxruntime_vendor

CMake
1
star
79

error_classification_server

Python
1
star