UR5e robot description for mc_rtc

This package has additional convex files for mc_ur5e robot module used by mc_rtc control framework. UR5e robot has urdf, collada and meshes in the original ur_description package.

It contains the following directories:

• convex/: convex hulls (generated from pointclouds sampled from the dae meshes)
• rsdf/: Special urdf-like format describing surfaces attached to links on the robot (The folder is empty)

Required dependencies

• ROS1 : ur_description
• ROS2 : ur_description

Installation

ROS1

On an environment with ROS and catkin properly setup:

$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-industrial/universal_robot
$ git clone https://github.com/isri-aist/mc_ur5e_description
$ cd ..
$ catkin_make

If you install into a different directory than the src directory of the catkin workspace, run the following commands.

$ cd build
$ make install

If your catkin environment is sourced source ~/catkin_ws/install/setup.bash, the robot model will be available to all ROS tools, and mc_rtc robot module.

To display the robot, you can use:

$ roslaunch mc_ur5e_description display_ur5e.launch

ROS2

On an envrionnement with ROS and a workspace properly setup :

$ cd ~/ros2_ws/src
$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Description # you may need to change branch depending on your ros version
$ git clone https://github.com/isri-aist/mc_ur5e_description
$ cd ..
$ colcon build

If your catkin environment is sourced source ~/ros2_ws/install/setup.bash, the robot model will be available to all ROS tools, and mc_rtc robot module.

To display the robot, you can use:

$ ros2 launch mc_ur5e_description display_ur5e.launch.py

If you have mc_rtc and the corresponding robot module installed, you can use the convexes:=True or surfaces:=True arguments to display the robot convexes and surfaces. These arguments can be used for both ROS version.

---

When updating convex files

Dependencies

• ur_description
• mesh_sampling
• qhull-bin

Generation of convex files

To run the conversion, simply run

$ source ~/catkin_ws/devel/setup.bash
$ roscd mc_ur5e_description/scripts
$ ./generate_convex.sh
  Running generate_convex.sh script from directory <MC_UR5E_DESCRIPTION_PATH>/script
      :
      :
  -- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur5e/collision/upperarm.stl
  -- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur5e/collision/forearm.stl
  -- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur5e/collision/base.stl
  -- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur5e/collision/wrist2.stl
  -- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur5e/collision/wrist3.stl
  -- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur5e/collision/shoulder.stl
  -- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur5e/collision/wrist1.stl

  Successfully generated convex from ur_description package in /tmp/mc_ur5e_description

$ mv /tmp/mc_ur5e_description/convex/ur5e `rospack find mc_ur5e_description`/convex/