Teleop-UR3 (ROS 2 Jazzy + CoppeliaSim 4.10)

Gamepad → ROS 2 /joy → Mapping Node /ur3_cmd → UR3Bridge → CoppeliaSim
Control a UR3 robot in CoppeliaSim using a Logitech F310 (XInput mode).

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1. Prerequisites

• Ubuntu 24.04
• ROS 2 Jazzy installed at /opt/ros/jazzy
• Python 3.12 venv at ~/ros2venv
• CoppeliaSim 4.10 with ZMQ Remote API (default rpcPort=23000)
• Logitech F310 gamepad (XInput)

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2. Repository Layout (this repo = one ROS 2 Python package)

ur3_bridge/            # Python package (nodes)
resource/              # ament index resource (keep)
test/                  # tests (optional)
scenes/ur3.ttt         # sample CoppeliaSim scene
scripts/bringup.sh     # env loader
package.xml, setup.py, setup.cfg, README.md, LICENSE, requirements.txt

Note: This repository is a package-level repo.
Users should clone it into their own workspace src/ and build with colcon.

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3. Clone and Build

3.1 Clone the repository

mkdir -p ~/ros2_ws_1/src
cd ~/ros2_ws_1/src
git clone https://github.com/Navvy000/teleop-ur3.git ur3_bridge
cd ~/ros2_ws_1
colcon build
source install/setup.bash

3.2 Python dependencies (venv)

python3 -m venv ~/ros2venv
source ~/ros2venv/bin/activate
pip install -r ~/ros2_ws_1/src/ur3_bridge/requirements.txt

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4. Run (three terminals)

In each terminal, first load environment:

cd ~/ros2_ws_1/src/ur3_bridge
source scripts/bringup.sh

Terminal A — UR3 Bridge (ROS → CoppeliaSim)

source ~/ros2venv/bin/activate
source /opt/ros/jazzy/setup.bash
export PYTHONPATH=$VIRTUAL_ENV/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages:$PYTHONPATH
source ~/ros2_ws_1/install/setup.bash
ros2 run ur3_bridge bridge_node

Terminal B — Gamepad → /joy

source ~/ros2venv/bin/activate
source /opt/ros/jazzy/setup.bash
export PYTHONPATH=$VIRTUAL_ENV/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages:$PYTHONPATH
source ~/ros2_ws_1/install/setup.bash
ros2 run joy joy_node --ros-args   -p dev:=/dev/input/by-id/usb-Logitech_Gamepad_F310-event-joystick   -p deadzone:=0.05   -p autorepeat_rate:=50.0

Terminal C — /joy → /ur3_cmd

source ~/ros2venv/bin/activate
source /opt/ros/jazzy/setup.bash
export PYTHONPATH=$VIRTUAL_ENV/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages:$PYTHONPATH
source ~/ros2_ws_1/install/setup.bash
ros2 run ur3_bridge gamepad_to_ur3_cmd

Open CoppeliaSim and load scenes/ur3.ttt, press ▶ Run (ZMQ server message should appear).

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5. Controls (default)

• LB: enable (hold-to-run)
• B: E-Stop (latching)
• Start: reset E-Stop (if implemented)
• Y: home (set targets to zeros)
• Sticks map to 6 joints (axes indices & inversion set for F310 XInput).
  If directions feel inverted, adjust axes.*.invert params.

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6. Notes

• PYTHONPATH is merged so both venv packages and ROS 2 Python libs are importable.
• Do not add ROS 2 system packages to requirements.txt.
• If /joy has no output, check gamepad path under /dev/input/by-id/.

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7. Versions

• Ubuntu 24.04, ROS 2 Jazzy, Python 3.12, CoppeliaSim 4.10, Logitech F310 (XInput)

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Author: Zhenyu Yuan
Date: October 2025
Project: MSc Computer Science (AI) – University of Nottingham
License: Apache 2.0