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Universal Robots ROS 2 tutorials

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

Getting started

To use the tutorials from this repository, please make sure to install ROS 2 on your system. Currently, only ROS Jazzy and Rolling are supported.

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