Draw X

Overview

This demo shows how to use the robot interface to draw letter X at the fixed positions with an UR5 robot arm.

Requirement

Before running the code, make sure you have followed the instructions below to setup the robot correctly.

• Hardware
  • Host running ROS2
  • UR5
• Software
  • ROS2 Dashing Desktop
  • robot_interface

Download and Build the Example Code

Within your ROS2 workspace, download and compile the example code:

cd <path_of_your_ros2_workspace>/src

git clone https://github.com/intel/ros2_grasp_library.git

cd ..

colcon build --base-paths src/ros2_grasp_library/grasp_apps/draw_x

Launch the Application

• Launch the application

ros2 launch draw_x draw_x.launch.py

Note

Please make sure the emergency button on the teach pendant is in your hand, in case there is any accident.

• Expected Outputs:
  1. The robot moves its arm to the home pose
  2. The robot moves its arm to the pose above the first corner of X
  3. The robot moves its arm down to the first corner of X
  4. The robot moves its arm to the second corner of X
  5. The robot moves its arm up to the pose above the second corner of X
  6. The robot moves its arm to the pose above the third corner of X
  7. The robot moves its arm down to the third corner of X
  8. The robot moves its arm to the fourth corner of X
  9. The robot moves its arm up to the pose above the fourth corner of X
  10. The robot moves its arm to the home pose again