Robot Configurations

Summary

Provides a single repository for robot configurations used in lab projects/studies with non-standard MoveIt configurations and/or custom robot descriptions.

Workflow

To install, simply clone the repository into your catkin workspace and install the relevant dependencies for the robot being used (see below). Note that MoveIt should be installed. If using only the robot descriptions for an alternate planner (such as Relaxed-IK) then refer to the sub-package documentation to setup configurations along with the official Relaxed-IK setup documentation.

When extending this repository, ensure that contributions do not fail to build when dependencies are not installed. As an example, if using a UR5 then Kinova dependencies should not be required for catkin_make to successfully build. A notable exception is for MoveIt, which if not installed may necessitate deletion of *_moveit_config directories.

Due to this a la carte approach to providing configurations, rosdep will not work as desired on this meta-package. Users will need to manually install the side-dependencies like kinova_description or universal_robots ROS packages.

Robots

• UR 3 + Robotiq 85
• UR 5 + Robotiq 85
• UR 10 + Robotiq 85
• Kinova Mico + Kinova 2-Finger
• Kinova Mico + Kinova 3-Finger
• Kinova Mico + Robotiq 85
• UR 3e + Robotiq 85 (in development)
• Franka Emika Panda (in development)
• Nao (in development)

Dependencies

• Universal Robots UR 3 / UR 5 / UR 10 / UR 3e

  • Wisc-HCI/robotiq_85_gripper
    • Use the remote serial version of the driver
  • fmauch/universal_robot
    • Use this fork until merged into ros-industrial
  • industrial_core via apt install ros-<VERSION>-industrial-core
  • (Optional) UniversalRobots/Universal_Robots_ROS_Driver

• Kinova Mico

  • Wisc-HCI/robotiq_85_gripper
  • Kinovarobotics/kinova-ros

• Franka Emika Panda

  • frankaemika/franka_ros

• Nao

  • nao_robot
  • nao_meshes
    • If you are developing on our laboratory infrustructure then you should have access to a forked cache for easy install.

• General

  • (Optional) moveit vai apt install ros-<VERSION>-moveit
  • (Optional) uwgraphics/relaxed_ik

Deprecated Dependencies

• (Deprecated) Universal Robots UR 3 / UR 5 / UR 10

  • Wisc-HCI/robotiq_85_gripper
  • ros-industrial/universal_robot
  • (Optional) ros-industrial/ur_modern_driver
  • industrial_core via apt install ros-<VERSION>-industrial-core

• (Deprecated) Universal Robots UR 3e

  • Wisc-HCI/robotiq_85_gripper
    • Must use URScript Driver!
  • ros-industrial/universal_robot
    • Need version with UR e-series support (See notes for changes)
  • industrial_core via apt install ros-<VERSION>-industrial-core
  • dniewinski/ur_modern_driver
    • Must use this fork until merged into ros-industrial (See notes for setup)