Docker file and docker-compose for ROS noetic supporting packages for the UR5e and Robotiq Hand-e gripper.

Follow these steps to set up your environment for UR5e robot development:

1. Install either docker engine (Linux) or Docker Desktop.

2. Clone the Repository: Clone this repository to your local machine using the following command:

   git clone https://github.com/fmdazhar/ur5e_iff noetic_ur
   cd noetic_ur
   git submodule init
   git submodule update

3. Install Visual Studio Code Extensions: Install the Docker extension and Remote Development extension for Visual Studio Code.

4. Enable X11 forwarding

• Linux: xhost +
• Windows: use VcXsrv

5. Build the Docker Container (first-time setup): Before running the container, you need to build it. Navigate to the root folder of the cloned repository and run the following command:

   docker compose build

6. Run the Docker Container: Navigate to the root folder of the cloned repository and run the following command to start the Docker container:

   docker compose up

7. Attach Visual Studio Code: Open Visual Studio Code, go to the Docker tab, right-click on the container, and select "Attach VSCode." This action will provide you with a Visual Studio Code environment within the container, preconfigured with ROS settings.

The Docker container sets up a ROS workspace in /root/catkin_ws.

There are three UR5e robots used in the lab. "a_bot" refers to the UR5e with a Robotiq 2F-85 Gripper, "b_bot" refers to the UR5e with the OnRobot RG2-FT Gripper, and "c_bot" refers to the UR5e with the Robotiq Hand-e Gripper.

Within this workspace, you'll find the custom configuration packages specific to running the robots in the lab:

• catkin_ws/src/noetic_ur/noetic_description: Contains the URDF of the UR5e robots and grippers in the lab. Macros are available for importing the robots into your own URDFs.
• catkin_ws/src/noetic_ur/noetic_bringup: Contains launch files for bringing up both "a_bot" and "b_bot," including ROS controllers config files and calibration files.
• catkin_ws/src/noetic_ur/noetic_a_bot_moveit_config: Generated moveit_config package for "a_bot."
• catkin_ws/src/noetic_ur/noetic_b_bot_moveit_config: Generated moveit_config package for "b_bot."
• catkin_ws/src/noetic_ur/noetic_c_bot_moveit_config: Generated moveit_config package for "c_bot."

The workspace also includes extra ROS package dependencies as git submodules in catkin_ws:

• catkin_ws/src/controllers/cartesian_controllers: Provides Cartesian motion, force, and compliance controllers for the ros_control framework.
• catkin_ws/src/controllers/low_pass_force_torque_sensor_controller: ROS package for controlling force-torque sensors via ros_control with an integrated low-pass filter.
• catkin_ws/src/gazebo_pkgs/gazebo_gripper_action_controller: ROS control gripper action controller for Gazebo.
• catkin_ws/src/gazebo_pkgs/roboticsgroup_upatras_gazebo_plugins: Contains the MimicJointPlugin, a simple model plugin for Gazebo to add mimic joint functionality.
• catkin_ws/src/onrobot: Contains ROS packages for controlling the OnRobot RG2-FT gripper.
• catkin_ws/src/robotiq: Contains ROS packages for controlling the Robotiq 2F-85 Gripper and Robotiq Hand-e Gripper.
• catkin_ws/src/universal_robots/Universal_Robots_Client_Library: A C++ library for accessing Universal Robots interfaces.
• catkin_ws/src/universal_robots/Universal_Robots_ROS_Driver: UR5e ROS driver.
• catkin_ws/src/universal_robots/universal_robot: ROS-Industrial Universal Robot meta-package. Contains UR5e URDF.

Note that the same commands for "a_bot" also apply for "b_bot" and "c_bot"—just swap the names.

roslaunch noetic_fake c_bot_fake.launch

roslaunch noetic_gazebo c_bot_gazebo.launch

Follow these steps to run the real robot:

1. Set Up External Control URCap: Follow the steps for setting up external control URCap and programming on the UR teach pendant. This only needs to be done once. Refer to this guide.

2. Calibrate the Real Robot: Calibrate the real robot using the following command, replacing <c_bot robot ip> with the actual IP of the "c_bot" robot:

   roslaunch noetic_bringup c_bot_calibration.launch robot_ip:=<c_bot robot ip>

3. Start Up the Real Robot: Launch the real robot using the following command, replacing <c_bot robot ip> with the actual IP of the "c_bot" robot and <host computer ip> with the IP of your host computer:

   roslaunch noetic_bringup c_bot_bringup.launch robot_ip:=<c_bot robot ip> reverse_ip:=<host computer ip>

4. Run the External Control Program: Run the external control program you have set up on the teach pendant.

There are various controllers available for the robot as part of ROS control. You can find their configurations in catkin_ws/src/noetic_ur/noetic_bringup/config/c_bot_controllers.yaml

To work with different controllers:

1. Make sure the real robot is running with ROS.

2. Open up rqt_gui using the command: rosrun rqt_gui rqt_gui.

3. In rqt_gui, go to Plugins -> Robot Tools -> Controller Manager.

4. Select the namespace of the controller manager.

5. To switch to a different controller, select the desired controller from the drop-down menu or radio buttons provided in the plugin interface.

   Note: Before switching to a different controller, ensure that the current running controller, if it shares resources, is turned off to avoid conflicts.

6. In rqt_gui, go to Plugins -> Configuration -> Dynamic Reconfigure. Experiment with different configuration values of the controllers.