This is a control template for Universal Robots robotic manipulators. It relies on sas_robot_driver_ur to communicate
with the robot via URCL.
Docker¶
Simulation¶
https://
Run
mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/.devel/simulation_demo/compose.yml
xhost +local:root
docker compose upReal robot¶
https://
Run
mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/.devel/robot_demo/compose.yml
docker compose upReal robot and simulation¶
Run
mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_and_simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_and_simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/.devel/robot_and_simulation_demo/compose.yml
xhost +local:root
docker compose upFrom source (advanced)¶
1. Pre-requisites¶
Follow setup in SAS Tutorial.
2. Clone the repository¶
mkdir -p ~/sas_tutorial_workspace/src
cd ~/sas_tutorial_workspace/src
git clone https://github.com/MarinhoLab/sas_ur_control_template.git3. Building and sourcing¶
cd ~/sas_tutorial_workspace
colcon build
source install/setup.bashWorking in simulation¶
- Open the scene
scenes/UR3e_480rev0.ttton CoppeliaSim and start the simulation. ros2 launch sas_ur_control_template simulation_example_cpp_launch.py
Working with the real robot¶
Run
ros2 launch real_robot_move_example_py_launch.py ur1_ip:=192.170.10.22