UR5 Controller using trac_ik and MoveIt

Preview:

This repo has a MoveIt planner to control UR5 robot in Gazebo simulation using trac_ik as the inverse kinematics solver for ROS 2 humble in Ubuntu 22.04.

Installation:

1. Clone this repo and delete the log, install and build files.

2. Go into the cloned directory using cd ur5_gazebo and then enter the following commands to install the necessary packages using rosdep.

   sudo apt install python3-rosdep
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y
   

3. Now use colcon build command to build the file.

   (NOTE : If colcon is not already installed in your system, install it using -

   sudo apt install python3-colcon-common-extensions
   

4. Source the workspace using -

   source install/setup.bash
   

Usage:

1. Launch the RViz Gazebo and MoveIt using command -

   ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py
   

2. You can now move the end effector to desired coordinate and orientation by adding the coordinate and quaternion angle for orientation. Below is the sample command -

    ros2 launch robot_controller move_robot_targetpose.launch.py tp_x:=0.4 tp_y:=0.1 tp_z:=0.8 to_x:=0.0 to_y:=0.0 to_z:=0.0 to_w:=1.0 
   

   NOTE : You can change the coordinates by changing tp_x, tp_y and tp_z. For orientation, change to_x, to_y, to_z and to_w