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Dual arm set up with Universal Robots (default UR3e)

Dual UR3e & Robotiq Hand-e

ROS-Melodic, Gazebo, and MoveIt configuration for dual configuration with UR3e (or any other UR robot)

Installation

Prerequisites

  • Install Docker
  • Install Docker-compose
  • Install nvidia-docker2

Detailed instruction can be found here

Clone and build

Clone this repository

git clone https://github.com/cambel/dual_ur3e.git

Build Docker container

cd dual_ur3e
./BUILD-DOCKER-IMAGE.sh

Run container (reconnect to container with new terminals with this same script)

cd dual_ur3e
./RUN-DOCKER.sh

Example

Launch the Gazebo environment (Environment is a custom build of my lab)

Execute the following command

roslaunch ur3e_dual_gazebo dual_ur3e_hlab.launch

By default the robot used are the UR3e, but other UR robots can be easily set up by changing the argument ur_robot, valid option (ur3, ur5, ur10, ur3e, ur5e, ur10e)

roslaunch ur3e_dual_gazebo dual_ur3e_hlab.launch ur_robot:=ur5e

Launch MoveIt

Execute the following command

roslaunch ur3e_dual_moveit_config start_sim_dual_ur3e_moveit.launch

Change the simulation environment

Update the URDF description of the environment ur3e_dual_gazebo/urdf/dual_ur_gripper_hande.xacro or create your own one