#README

FlexROS - uArm Robot Control System

This repository contains the implementation for controlling and visualizing the uArm robot using ROS 2 and RViz.

Prerequisites

• ROS 2 Humble
• Required ROS 2 packages:
  • ur_description (Universal Robots ROS2 Description Package)

Installation

1. Clone the repository and required packages:

mkdir -p ~/flexros_ws/src
cd ~/flexros_ws/src
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git

2. Build the workspace:

cd ~/flexros_ws
colcon build --symlink-install

Getting Started

1. Source your ROS 2 environment:

source /opt/ros/humble/setup.bash
source install/setup.bash

2. Launch RViz with the uArm robot model:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5

3. Start the robot control node:

ros2 run ur_custom_control ur_control_node

Moving the Robot

Using the ur_move Node

1. In a new terminal, run the ur_move node:

ros2 run ur_custom_control ur_move

2. The node accepts movement commands through ROS 2 topics. You can send commands using:

ros2 topic pub /ur_control/target_pose geometry_msgs/msg/Pose "position:
  x: 0.0
  y: 0.0
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.0
  w: 1.0"

Additional Resources

• ROS 2 Documentation: https://docs.ros.org/en/humble/

source install/setup.bash ros2 topic echo /joint_states

ros2 topic echo /ur5/ur_controllers/joint_group_position_controller/state