Docker Moveit and UR10e

Version with git submodules can be found here

Description

Contents of container:

• ROS noetic

• Moveit

  • IK

    • KDL
    • TRAC-IK

  • Planning pipelines

    • OMPL
    • CHOMP
    • STOMP
    • Pilz Industrial Motion Planner

• UR10e moveit_config (with IAAC calibration) and ur driver. There is a moveit_config with and without end effector.

• RQT joint trajectory plot

• industrial reconstruction (ros1 branch)

• realsense-ros (with D405 support in ROS1)

Docker

For docker instructions see README in the .docker directory of this repo.

Detailed instructions

See instructions directory

Use

Running in simulation

roslaunch ur10e_moveit_config demo.launch

Running on the robot

In order to ensure optimal performance of the ur_driver without the realtime kernel the ur_robot-driver is run with a high priority.

Process priority

When not using a realtime kernel it is recommended to run the UR driver with high process priority.

See process nice for more information on process niceness.

This requires the user to have the permissions to change the niceness of processes.

Add the following to /etc/security/limits.conf on the Docker host

$USER - nice -15

Once inside the container run su $USER in order for the permissions to be loaded.

Realsense udev permissions

Download the udev rules and place them in /etc/udev/rules.d

Run sudo service udev reload and sudo service udev restart to load the new rules

Reboot host if camera is not detected

Network configuration

These instructions assume

• Robot IP: 192.168.56.101
• Docker Host IP: 192.168.56.1

If URcaps fails to connect add the following rule to the firewall (ufw) on the docker host.

sudo ufw allow from 192.168.56.101 to 192.168.56.1

Launch the robot bringup, this file sets the robot IP and loads the kinematics calibration for the IAAC UR10e.

• without endeffector

  ur10e_moveit_config ur10e_iaac_bringup.launch 

• with endeffector

  ur10e_ee_moveit_config ur10e_ee_iaac_bringup.launch 

On the ur pendant load and start URcaps

When the robot is connected you should see the following in the terminal used to launch the bringup

[ INFO]  Sent program to robot
[ INFO]  Robot connected to reverse interface. Ready to receive control commands.

You can use the top command to check the ur driver is running unnicely (-15)