ur_pilz_demo

Demonstration of Pilz Industrial Motion Planner in MoveIt with Universal Robots

^{Sample video showing demonstration on RViz}

Dependencies

• MoveIt 2: Install using the following command:

  $ sudo apt install ros-${ROS_DISTRO}-moveit

• Universal Robots ROS2 Driver: Install using the following commands:

  $ sudo apt install ros-${ROS_DISTRO}-ur-robot-driver
  $ sudo apt install ros-${ROS_DISTRO}-ur-moveit-config

• MoveIt Visual Tools: Install using the following command:

  $ sudo apt install ros-${ROS_DISTRO}-moveit-visual-tools

Compilation

1. Make sure to download complete repository. Use git clone or download zip as per convenience.
2. Invoke colcon tool inside ros workspace i.e., colcon build

Steps to run

1. Start UR ROS 2 driver in simulation mode by using the following command:

   $ ros2 launch ur_robot_driver ur3e.launch.py robot_ip:=yyy.yyy.yyy.yyy \
     use_fake_hardware:=true launch_rviz:=false \
     initial_joint_controller:=scaled_joint_trajectory_controller

2. Invoke the demo by using the following command:

   $ ros2 launch ur_pilz_demo ur_pilz.launch.py 

Note

This package has been tested on the following environment configuration-

Name	Value
ROS	Humble
MoveIt 2	2.5.5-1
Universal Robots ROS2 Driver	2.2.9-1
MoveIt Visual Tools	4.1.0-1
OS	Ubuntu 22.04.3 LTS (64-bit)
Kernel	Version 6.2.0-35-generic
GCC	Version 11.4.0
Python	Version 3.10.12
RAM	8 GB
Processor	Intel® Core™ i7-7700 CPU @ 3.60GHz × 8

Issues (or Error Reporting)

Please check here and create issues accordingly.

References

• MoveIt Resources
• Universal Robots ROS2 Description
• Universal Robots ROS2 Driver