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| tutorials:kiba_ur5 [2017/06/08 12:43] – created amaldo | tutorials:kiba_ur5 [2017/07/04 21:44] (current) – amaldo | ||
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| ====== Using the UR-5 robots for the KIBA class ====== | ====== Using the UR-5 robots for the KIBA class ====== | ||
| + | Instructions for Ubuntu 16.04 (Xenial) and ROS Kinetic: | ||
| Please make sure you have the following packages in your ros workspace: | Please make sure you have the following packages in your ros workspace: | ||
| cd $my_workspace/ | cd $my_workspace/ | ||
| - | git clone -b kinetic | + | git clone https:// |
| git clone -b kinetic-devel https:// | git clone -b kinetic-devel https:// | ||
| | | ||
| For the Sensor: | For the Sensor: | ||
| cd $my_workspace/ | cd $my_workspace/ | ||
| - | git clone https:// | + | git clone https:// |
| | | ||
| Line 27: | Line 28: | ||
| Change the IP to your specific robot | Change the IP to your specific robot | ||
| + | Since the frame of the pico_flexx driver is not in the URDF, run the following TF static publisher: | ||
| + | rosrun tf static_transform_publisher 0 0 0 0 0 0 tool0 pico_flexx_optical_frame 100 | ||
| + | |||
| + | Now you can run rviz, and add the following plugins: Grid, RobotModel, TF, DepthCloud, and configure them to the appropriate topics. | ||
| - | Now you can run rviz, and add the following plugins: Grid, RobotModel, TF, DepthCloud | ||
tutorials/kiba_ur5.1496925780.txt.gz · Last modified: 2017/06/08 12:43 by amaldo · [Old revisions]
