# ur_ws

**Repository Path**: borninfreedom/ur_ws

## Basic Information

- **Project Name**: ur_ws
- **Description**: ros workspace for ur manipulator
- **Primary Language**: C++
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-08-03
- **Last Updated**: 2021-08-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Universal robot with robotiq hand workspace

---
** 如果想实现在网页端控制UR机械臂，请参考这两个仓库：[UR3网页控制](https://github.com/borninfreedom/ur-webgui), [UR5网页控制](https://github.com/borninfreedom/ur5_webgui), UR3的是根据UR5的修改的，所以请先浏览UR5链接内的内容。**
---

## Build

```
source /opt/ros/kinetic/setup.bash
cd ur_ws/
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
catkin build
```
* **if rosdep init & rosdep update failed,please visit [ROS -sudo rosdep init 失败解决方法](https://blog.csdn.net/bornfree5511/article/details/106267533)**

## Run

```
source ~/ur_ws/devel/setup.bash
roslaunch ur_platform_gazebo ur_platform_gazebo.launch
```
![ur_robotiq](images/ur_robotiq.jpg)

## Grasp

The other terminal

```
rosrun ur_platform_manipulation grasp_object.py
```

![grasping](images/grasping.gif)

## Camera Images

RGB image

![rbg](images/camera_rgb_image.png)

Depth image

![depth](images/camera_depth_image.png)

## Multiple Arms

![multi_arms](images/multiple_arms.jpg)