Dual arm robot ros driver

This repository provides our customized UR5e integration with robotiq 3 Finger gripper.

Tested on Ubuntu 18.04 with ROS Melodic.

The features and usage of the dual arm driver are described on the WIKI.

Robot simulation

Run gazebo, moveit, Rviz

roslaunch robot_gazebo dual_ur_robotiq.launch world:=table_box
roslaunch robot_moveit_config robot_moveit_planning_execution.launch sim:=true
roslaunch robot_moveit_config moveit_rviz.launch 

Pick and place simulation

rosrun bimanual_manipulation pick_place_collision

Real robot execution: Bring up grippers and robots, Run moveit and Rviz

Run the lines below in the respective terminals.

roscore
roslaunch robotiq_3f_gripper_control dual_gripper_tcp.launch
roslaunch robotiq_3f_gripper_joint_state_publisher dual_gripper_joint_state_publisher.launch
roslaunch robotiq_3f_gripper_visualization robotiq_gripper_upload.launch

roslaunch ur_robot_driver robot_bringup.launch   
roslaunch robot_moveit_config robot_moveit_planning_execution.launch sim:=false     
roslaunch robot_moveit_config moveit_rviz.launch   

Gripper

• Mode: basic, pinch, wide scissor
• Action: close, open

rosrun robotiq_3f_gripper_control Robotiq3FGripperSimpleController.py  
rosrun robotiq_3f_gripper_control Robotiq3FGripperStatusListener.py

Contact

All bug reports, feedback, comments, contributions or remarks are welcome.