Getting Started

Testing environment

Unbuntu 18.04 with ROS melodic, RT kernel version 5.2.21

Prerequisites

1. Install Ubuntu and install real-time kernel.
2. Install ROS following instructions provided here.
3. Install moveit following instructions provided here.

Build and Compile

1. Create a catkin workspace and clone this repository

mkdir -p robot_ws/src && cd robot_ws
git clone https://github.com/yaesolKim/robotiq.git src/robotiq
git clone https://github.com/EwhaGlab/dual_ur_robotiq.git src/dual_ur_robotiq
git clone https://github.com/yaesolKim/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver

2. Install the dependencies

sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

3. Build the workspace

catkin_make

4. Activate the workspace (ie: source it)

source devel/setup.bash