UR10 robot module for mc_rtc

This package contains a software representation, or a robot module, of UR10 robot platform. This robot module is used by mc_rtc framework to realize control of UR10 robot in simulation or in experiments with real platform.

Required dependencies

• mc_rtc
• mc_ur10_description

Build instructions

$ git clone https://github.com/isri-aist/mc_ur10
$ cd mc_ur10
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install

• Using mc_rtc_superbuild

Create a folder ur10 in mc_rtc_superbuild/extensions and create a CMakeLists.txt with the following content :

CreateCatkinWorkspace(ID ur_ws DIR "ur_ws" CATKIN_MAKE)

AptInstall(ros-$ENV{ROS_DISTRO}-ur-description)

AddCatkinProject(mc_ur10_description WORKSPACE ur_ws
  GITHUB isri-aist/mc_ur10_description
)


AddProject(mc_ur10
  GITHUB isri-aist/mc_ur10
  DEPENDS mc_ur10_description
)

Basic run

In ~/.config/mc_rtc/mc_rtc.yaml :

# General mc_rtc configuration to run a ur10 controller at 1kHz
MainRobot: UR10
Enabled: Posture
Timestep: 0.001

Then run the following commands in separate terminals :

• ROS1

roscore 
roslaunch mc_rtc_ticker display.launch
mc_rtc_ticker 

roscore is optional if you run roslaunch mc_rtc_ticker display.launch

• ROS2

mc_rtc_ticker
ros2 launch mc_rtc_ticker display.launch