README.md

UR10 Reference Generators Demo

This package provides demonstrations for the UR10 robot using both task space and joint space reference generators. It includes configurations for simulating the UR10 robot in Gazebo with ROS 2 control. More information about the reference generator can be found in the README.

Simulations with Task Space Reference Generator

To simulate the UR10 robot in Gazebo using the task-space reference generator, the cartesian_pose_controller is used. This controller allows you to control the end-effector pose in Cartesian space. The generated references or trajectories will be forwarded to the cartesian_pose_controller.

To launch the demo, run:

ros2 launch ur10_reference_generators_demo task_space_reference_generator_gazebo_demo.launch.py

Then, send the trajectory to the task_space_reference_generator using the command:

ros2 action send_goal /task_space_reference_generator/follow_task_space_trajectory acg_control_msgs/action/FollowTaskSpaceTrajectory "$(cat $(ros2 pkg prefix --share ur10_reference_generators_demo)/config/squared_trajectory.yaml)" --feedback

The alternative is to load the task_space_reference_generator manually. For example, launch the following command:

ros2 launch ur10_reference_generators_demo gazebo_ros2_control_demo.launch.py runtime_config_package:=ur10_reference_generators_demo controllers_file:=ur10_damped_cpc_simulation.yaml rviz_config_file:=config/task_space_reference_generator_view_ee_pose.rviz initial_joint_controller:=cartesian_pose_controller

Then, load and activate the task_space_reference_generator. Use the following command in a new terminal to run the controller manager and select the desired controllers:

ros2 run rqt_controller_manager rqt_controller_manager

The task_space_reference_generator can receive references or trajectories. For example, run the following command:

ros2 action send_goal /task_space_reference_generator/follow_task_space_trajectory acg_control_msgs/action/FollowTaskSpaceTrajectory "$(cat $(ros2 pkg prefix --share ur10_reference_generators_demo)/config/triangular_trajectory.yaml)" --feedback

Simulations with Joint Space Reference Generator

To simulate the UR10 robot in Gazebo using the joint space reference generator, the pid_controller is used. The generated references or trajectories will be forwarded to the pid_controller.

To launch the demo, run:

ros2 launch ur10_reference_generators_demo joint_space_reference_generator_gazebo.launch.py

Then, send the trajectory to the joint_space_reference_generator using the command:

ros2 action send_goal /joint_space_reference_generator/follow_joint_trajectory acg_control_msgs/action/FollowJointTrajectory "$(cat $(ros2 pkg prefix --share ur10_reference_generators_demo)/config/test_joint_trajectory.yaml)" --feedback

The alternative is to load the joint_space_reference_generator manually. For example, launch the following command:

ros2 launch ur10_reference_generators_demo gazebo_ros2_control_demo.launch.py runtime_config_package:=ur10_reference_generators_demo controllers_file:=ur10_pid_simulation.yaml rviz_config_file:=config/joint_space_reference_generator_view_ee_pose.rviz initial_joint_controller:=pid_controller initial_positions_package:=ur10_reference_generators_demo

Then, load and activate the joint_space_reference_generator. Use the following command in a new terminal to run the controller manager and select the desired controllers:

ros2 run rqt_controller_manager rqt_controller_manager

The joint_space_reference_generator can receive references or trajectories. For example, run the following command:

ros2 action send_goal /joint_space_reference_generator/follow_joint_trajectory acg_control_msgs/action/FollowJointTrajectory "$(cat $(ros2 pkg prefix --share ur10_reference_generators_demo)/config/test_joint_trajectory.yaml)" --feedback