Universal Robots ROS 2 tutorials

This package contains tutorials around the ROS 2 packages for Universal Robots.

Branches & ROS distributions

This package intends to show use-cases and examples for the ROS 2 packages for Universal Robots. The main branch of this repository will be used to show examples for the latest ROS 2 distribution, ROS Rolling. For older ROS 2 distributions. This is valid for all active ROS 2 distributions, as long as there is no specialized branch for that distribution. The following table shows the branches and their corresponding ROS 2 distributions:

ROS 2 Distro	Branch	Documentation
Rolling	main
Jazzy	jazzy
Humble	humble	--

Getting started

To use the tutorials from this repository, please make sure to install ROS 2 on your system.

With that, please create a workspace, clone this repo into the workspace, install the dependencies and build the workspace.

1. Create a colcon workspace:

   export COLCON_WS=~/workspaces/ur_tutorials
   mkdir -p $COLCON_WS/src
   

2. Download the required repositories and install package dependencies:

   cd $COLCON_WS
   git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials.git src/ur_tutorials
   rosdep update && rosdep install --ignore-src --from-paths src -y
   

3. Create a colcon workspace:

   cd $COLCON_WS
   colcon build
   

4. Source your workspace

   source $COLCON_WS/install/setup.bash
   

5. Launch an example e.g. the custom workcell example

   ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true