# UR5e_Vision_Assemble

**Repository Path**: tom_ud/UR5e_Vision_Assemble

## Basic Information

- **Project Name**: UR5e_Vision_Assemble
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-06-09
- **Last Updated**: 2024-06-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 本项目仍在开发中
# STILL UNSTABLE

# UR5_Vision_Assemble
Use ROS2 and Gazebo to simulate 2 UR5 assembling objects. 

# Environment

* Ubuntu 22.04
* ROS2 humble

# Dependence
* Gazebo classic
* Moveit2
* ros2 control
* image pipline

# Usage

## Before usage

make sure you have all the dependences installed

make sure you have local gazebo model in `~/.gazebo/models`

# 记录一下踩过的各种坑

1. 调用moveit控制的那个launch文件也需要单独加载kinematics等参数（robot_description之类的倒是不用，好奇怪）
2. xml文件的注释中不要含有冒号:
3. 记得区分${xxx}和$(arg xxx)
4. 仿真需要设置`use_sim_time=true`，而且目前来看最好在launch文件里面来设置
5. 因为固定link的tf没有被发布出来导致深度相机返回的数据有问题

# Acknowledgment

* Gazebo grasp plugin for ROS2 [gazebo_pkgs](https://github.com/kongoncharuk/gazebo-pkgs)
* [ros2_robotiq_gripper](https://github.com/PickNikRobotics/ros2_robotiq_gripper)
* [Universal_Robots_ROS2_Description](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description)
* [Universal_Robots_ROS2_Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
*