Description

This is the ROS side repository that allows you to operate a UR3e robot with robotiq gripper 2f-85. Make sure the ROS work space is set up before running unity.

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1. Download this repository

The git clone command allows you to download files from a remote server to your local computer. Therefore, the git clone command is specified first, followed by a link to the remote repository.

git clone https://github.com/Yadhukrishnank/UR3e_unity.git    

2. Install Docker and VS Code

Install docker and VS Code on your local computer. The installation of docker should complete correctly.

3. Open the work_space in VS Code

Navigate to ROS folder and open the work_space in VS Code.

cd UR3e_unity/ROS/
code .

4. Build the work_space

Allow X11 Access on Host:

xhost +local:root

Open a remote window from the bottom left corner and Select "Reopen in container". The docker image will start to build.

5. Open a new Terminal and enter the following commands

catkin_make
source devel/setup.bash

Ensure that roscore is running. To launch the ROS-TCP connector and moveit launch file, enter the following commands

roslaunch ur_robotiq pose_est.launch

Open an another terminal. To run the pick and place nodes run the following command

rosrun ur_robotiq mover.py

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Ros side setup is finished. For Unity side setup follow the link. For ROS2 setup follow the Link.

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Follow the link for demo video. Final report [Final Report Rohith Ramakrishnan, Yadhu Krishnan.pdf]