Prerequisites

First of all, the project needs these supporting packages to be installed. The instruction assumes Catkin workspace has already installed.

• ROS-Industrial's universal_robot package

cd catkin_ws/src
git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git
cd ..
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro kinetic
catkin_make
source devel/setup.bash

• ROS driver for CB1, CB2 and CB3+ controllers with Universal Robots

cd catkin_ws/src
git clone https://github.com/ros-industrial/ur_modern_driver
cd ..
catkin_make
source devel/setup.bash

The drivers are not working probaly after installation. We need to modify the hardware interface of drivers to make it works with ROS Kinetic.

cd catkin_ws/src/ur_modern_driver/src
gedit ur_hardware_interface.cpp

Then replacing all the contains in "ur_hardware_interface.cpp" by the code in this link. Save cahnges and continue.

cd
cd catkin_ws
catkin_make
source devel/setup.bash

Simulation without Hololens and using Gazebo to testing publishing topics

The code of robot gripper should be uncomment-outed in the TEST marked lines and comment-outed the REAL marked lines. These launch files will bring out the Gazebo UR5 and some terminals to control it. These terminals presens as the psuedo hololens.

roslaunch ur_gazebo ur5.launch limited:=true
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur5_playing ignition.launch sim:=true

Testing with real robot and Hololens

• Running Hololens
• Running UR5 and ROS (UR5 is connected with ROS through Ethernet cable)

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=ROBOT_IP_ADDRESS
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch
roslaunch ur5_playing ignition.launch

• Checking connection between ROS and Hololens

roslaunch rosbridge_server rosbridge_websocket.launch

• Sending command from Hololens to control UR5