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ROS control

This page describes the ROS control for the UR5e manipulator & Robotiq 2F-85 gripper only . To control the manipulator and gripper as part of the MiRco mobile manipulator see MiRco ROS control.

Before controlling the robot follow the Starting UR5e & Robotiq 2F-85 instructions.

Packages overview

  • ur5e_2f85: main control package
  • ur5e_2f85_description: URDF description, kinematics calibration and controllers configuration files for UR5e with the attached 2F-85
  • ur5e_2f85_moveit_config: MoveIt! configuration and launch files
  • robotiq_2f85: Robotiq ROS driver, specifically for 2F-85 gripper. Fork of the original driver

Usage

ur5e_2f85 package

The main control package

Launch files

Nodes

Config files

ur5e_saved_poses.yaml

File used to save manipulator poses as joint states. Used by save_arm_pose, set_arm_pose, get_arm_pose and get_arm_pose_names services to save or retrieve manipulator joint states.

# saved pose example
entry1:
  ur5e_elbow_joint: -1.9254509210586548
  ur5e_shoulder_lift_joint: -1.3431395900300522
  ur5e_shoulder_pan_joint: -0.07610828081239873
  ur5e_wrist_1_joint: -1.4239323896220704
  ur5e_wrist_2_joint: 1.5782090425491333
  ur5e_wrist_3_joint: -0.07931977907289678

Services

save_arm_pose

Saves the current manipulator pose as joint states. The pose is saved in /config/ur5e_save_poses.yaml under a selected name.

If /config/ur5e_save_poses.yaml does not include a pose with the same name, a pose with the selected name is created and saved to the file. If a pose with the same name already exists, it's overwritten with the current joint states.

set_arm_pose

Sets manipulator to a selected pose saved as joint states in /config/ur5e_save_poses.yaml.
Uses MoveJ.

get_arm_pose

Gets a manipulator pose as joint states. Returns a pose saved in /config/ur5e_save_poses.yaml specified with the pose name.

get_arm_pose_names

Gets a list of poses saved in /config/ur5e_save_poses.yaml.