pla10/ros2_ur5_interface repository overview

⁠pla10/ros2_ur5_interface Docker Image

The pla10/ros2_ur5_interface Docker image provides a multi-platform development environment tailored for robotics enthusiasts and students. It includes an HTML5 VNC interface (noVNC) to easily access a full Ubuntu LXDE desktop environment with ROS 2 Jazzy pre-installed.

This image was designed specifically for the "Fundamentals of Robotics" course at the University of Trento, offering all necessary tools and packages to work with the UR5 manipulator robot, both in simulation and real-world setups.

⁠Key Features

• Pre-configured environment: ROS 2 Jazzy workspace with essential packages for UR5 robot manipulation.
• Simulation-ready: Integrates seamlessly with the pla10/ursim_e-series⁠ Docker image for simulating the UR5 robot.
• VNC Access: Access the environment via your web browser using noVNC for a convenient graphical interface.
• Home directory resources: Pre-built ROS 2 workspace (home/ros2_ws) containing launch files, Gazebo and nodes to control the UR5 robot.

⁠How to Use

1. Start the UR5 simulation by running the pla10/ursim_e-series⁠ Docker image:

   docker run --rm -d --net ursim_net --ip 192.168.56.101 -e ROBOT_MODEL=UR5 -p 6080:6080 -p 30001-30004:30001-30004 -p 29999:29999 --name ursim pla10/ursim_e-series
   

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2. Launch the pla10/ros2_ur5_interface Docker image:

   docker run --rm -d -p 6081:80 --security-opt seccomp=unconfined --shm-size=512m --net ursim_net --ip 192.168.56.200 --name ros2 pla10/ros2_ur5_interface
   

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Open the noVNC interfaces in your browser (default: http://localhost:6080⁠ for the UR5 and http://localhost:6081⁠ for ROS2) to access the environment. Navigate to /home/ubuntu/ros2_ws in the desktop environment to find the launch files and nodes for interacting with the simulated or real UR5 robot.