Making contact

Once the universal_robotpackage has been installed, we should be able to bring up the UR5 running the following command lines in a terminal:

roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:= ROBOT_IP [reverse_port:=REVERSE_PORT]

The REVERSE_PORT is the port which is used for the UR5 in order to send and receive statements from the ROS network. Usually, the port which is used for this propose is the port 50001, however this port can be verify looking up in the Python driver file called driver.py under the ur_driver directory/package (line 44).

Warning! During the performance of this action remember you must have your hands on the emergency button just in case something goes wrong with the execution of the package.

In a new terminal, run a simple test script code in Python.

$ rosrun ur_driver test_move.py

Now, you can get access to different topics and services, which are provided for the ROS core and the ros_control package, in order to command the different actuators of the robot as well as fetch information about kinematics variables of the ROBOT.

Universal Robot 5 Manual by Jorge De La Cruz is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Making Contact

Making contact

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