How to connect to UR Sim from ROS?

asked 2017-11-22 08:56:15 -0600

prajval10
92 ●14 ●17 ●24

I have the UR Sim 3.4.5-100 for simulating the Universal Robots on my computer running Ubuntu 14.04. I want to run the simulation from ROS-Industrial (Indigo) universal_robot package. I noticed that for UR version 3.x we need to use the ur_mordern_driver package. However, the tutorial on link:[http://wiki.ros.org/universal_robot/Tutorials/Getting%20Started%20with%20a%20Universal%20Robot%20and%20ROS-Industrial] does not tell on how to connect to a simulated Universal Robot.

answered 2017-11-22 09:00:16 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

There is no difference between connecting to a real or a simulated robot.

Only the IP that you connect to will change: instead of specifying the IP of the robot controller, you specify the IP of the computer running ursim.

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Note btw: I'm not sure whether ur_modern_driver is compatible with version 3.4.5-100 systems.

gvdhoorn ( 2017-11-22 09:00:40 -0600 )edit

Thanks! The command:

roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]

can be used and I just need to specify the IP of the computer running URsim?

prajval10 ( 2017-11-22 09:02:42 -0600 )edit

No. Not if you want to use ur_modern_driver.

gvdhoorn ( 2017-11-22 09:24:38 -0600 )edit

Alright, Could you please tell me how to set up the URsim to receive commands from ur_driver? Thanks

prajval10 ( 2017-11-22 10:54:35 -0600 )edit

I believe there is some confusion here: you stated you wanted to use ur_modern_driver. Now you are asking about ur_driver. Those are two different packages. You cannot use launch files from ur_bringup with ur_modern_driver.

gvdhoorn ( 2017-11-22 11:15:00 -0600 )edit

I'm sorry, I didn't frame my question correctly. I will use the ur_driver as you suggested. I'd like to know how to configure UR Sim to receive commands from ROS. I believe to run commands from ROS to UR Sim should be: roslaunch <launch_file> robot_ip: <local_host>

prajval10 ( 2017-11-22 13:59:41 -0600 )edit

ur_driver is definitely not compatible with 3.4.5-100. See the wiki (Compatibility section).

You'll have to use ur_modern_driver, but even there I'm not sure it's compatible already with 3.4.5-100.

If you can, try an older version of ursim.

gvdhoorn ( 2017-11-22 14:14:42 -0600 )edit

I'd like to know how to configure UR Sim to receive commands from ROS

There is no configuration, everything is taken care of by the driver.

I believe to run commands from ROS to UR Sim should be: roslaunch <launch_file> robot_ip: <local_host>

yes, that's about it.

gvdhoorn ( 2017-11-22 14:15:32 -0600 )edit

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