Real Robot Control

In order to work with the real robot setup, please use execution-devel branch.

MIND THE SPEED OF THE ROBOT. You can easily change the maximum speed of the robot with the slider in the teach pendant. It is set to 100% by default. I recommend lowering it to 50% when doing the tests.

Real Robot Execution

1. Start roscore

roscore

2. Bring up the robot

roslaunch dual_ur_robotiq_description upload_grippers.launch    
roslaunch dual_ur_robotiq_description bringup_robot.launch    

3. Run Moveit! and Rviz

roslaunch robot_moveit_config robot_moveit_planning_execution.launch sim:=false     
roslaunch robot_moveit_config moveit_rviz.launch config:=true   

[Optional] Quick gripper activation

rosrun robotiq_3f_gripper_control Robotiq3FGripperSimpleController.py __ns:=/right_gripper
rosrun robotiq_3f_gripper_control Robotiq3FGripperSimpleController.py __ns:=/left_gripper   

Press a for the activation.

Demo

The demo code shows multiple methods to command the robot via MoveIt!. See the comments in the file.

rosrun bimanual_manipulation command_robot_example