control Universal Robots with joystick
227
Download docker image:
docker pull yuelindeng/ur_interface
Run docker driver:
docker run -it --rm --net=host yuelindeng/ur_interface /bin/bash
Set UR arm to remote mode, then run the following command in side docker container:
source catkin_ws/devel/setup.bash
roslaunch arm_controller single_ur3e_control.launch robot_ip:=192.168.0.102 robot_name:=left
Replace with correct ip address and robot type.
In host terminal, run joy_node:
rosrun joy joy_node
NOTE: the code is written for xbox family joysticks, i.e. D-Pad is interpreted as axis, not buttons.
Default TCP is located at /catkin_ws/src/ur_interface/arm_controller/config/default_config.yaml
Run docker driver:
docker run -it --rm --net=host yuelindeng/ur_interface /bin/bash
Set UR arm to remote mode, then run the following command in side docker container:
source catkin_ws/devel/setup.bash
roslaunch arm_controller single_ur3e_control.launch robot_ip:=192.168.0.102 robot_name:=left controller_mode:=1
Pose control signals can be published to topic /left/pose_cmd
docker run -it --rm --net=host yuelindeng/ur_interface /bin/bash
source catkin_ws/devel/setup.bash
roslaunch arm_controller single_ur16e_control.launch robot_ip:=192.168.0.105 robot_name:=right controller_mode:=1 reverse_port:=50011 script_sender_port:=50012 trajectory_port:=50013
Content type
Image
Digest
Size
916.4 MB
Last updated
over 4 years ago
docker pull yuelindeng/ur_interface