ROS2 package to use robot native interface

Install

Install dependency ur_modern_driver:

git clone -b libur_modern_driver https://github.com/RoboticsYY/ur_modern_driver.git
cd ur_modern_driver/libur_modern_driver
mkdir build && cd build
cmake .. && sudo make install

Install dependency ros2_ur_description:

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/RoboticsYY/ros2_ur_description.git
cd .. && colcon build

Install robot_interface:

The installation should refer to the installation of ros2_grasp_library.

Note: If error "fatal error: Eigen/Geometry: No such file or directory" persists during the compilation, please check the file path of "Eigen/Geometry", if it locates at "/usr/include/eigen3/Eigen", a work around is creating a soft link to "/usr/include/Eigen" as below:

ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

Launch

Launch the UR robot control test executable:

ros2 launch robot_interface ur_test.launch.py move:=true

Launch the Rivz2 display:

ros2 launch ur_description view_ur5_ros2.launch.py

Generate Document

cd <path to root of ros2_grasp_library>/grasp_utils/robot_interface
doxygen Doxyfile