UR5 Simulation Repository

This repository provides the necessary materials to run the project work for the course Fundamentals of Robotics at the University of Trento for the academic year 2024-2025. The project was developed by

• Alessandro Nardin
• Kuba Di Quattro
• Francesco Martella

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Prerequisites

• Docker: Ensure Docker is installed and running on your system.

How to Use

1. Start the UR5 Gazebo Simulation

Run the ROS 2 container using the provided bash script:

bash scripts/ros2.sh

This starts the pla10/ros2_ur5_interface container. Access the environment via noVNC at http://localhost:6081.

• Open a terminal inside the ROS 2 container (accessible via noVNC).
• Navigate to the ROS 2 workspace:

  cd /home/ubuntu/ros2_ws

• Source the ROS 2 setup:

  source install/setup.bash

• Launch the simulation nodes using the provided launch file:

  ros2 launch ros2_ur5_interface sim.launch.py

• Add the block models to the simulation. It is necessary to enable visualization for the block models. You can do so by adding a RobotModel from the Add menu, selecting Topic as the description source, and then choosing the correct topic. Currently, the simulation spawns two blocks.

2. Build the Source Code

Before running the necessary nodes, build the source code using:

colcon build

3. Run Necessary Nodes

Now, you need to run the three nodes that control the robot. Currently, there is no launch file to automate this process, so each node must be started manually in its own terminal. Remember to source the ROS 2 setup in each terminal:

source install/setup.bash

The three nodes to run are:

ros2 run ur5_motion_cpp grabmove_server

ros2 run localization detector

ros2 run ur5_planning planning1