UR3 真机

环境构建

1. 源码下载

git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git

git clone -b kinetic-devel https://github.com/ros-industrial/ur_modern_driver.git

2. 项目依赖安装

cd ws/src
rosdep install -y --from-paths . --ignore-src --rosdistro melodic

真机环境

1. 启动driver

roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=ip

1. 启动运动规划

roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch

1. 启动rviz可视化

roslaunch ur3_moveit_config moveit_rviz.launch config:=true