Initial Setup

UR3e Startup.md

@@ -0,0 +1,13 @@
+### Links:
+- https://github.com/UniversalRobots/Universal_Robots_ROS_Driver
+- https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases/tag/v1.0.5
+- http://wiki.ros.org/universal_robot/Tutorials/Getting%20Started%20with%20a%20Universal%20Robot%20and%20ROS-Industrial
+
+### Commands
+```bash
+roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=192.168.77.22 kinematics_config:=/home/user/workspace/ur3e2_calib.yaml
+
+roslaunch ur3e_moveit_config ur3e_moveit_planning_execution.launch
+
+roslaunch ur3e_moveit_config moveit_rviz.launch config:=true
+```

melodic_dockerfile.Dockerfile → docker/melodic_dockerfile.Dockerfile

@@ -1,34 +1,3 @@
-BSD 3-Clause License
-
-Copyright (c) 2021, Kanishka Ganguly
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its
-   contributors may be used to endorse or promote products derived from
-   this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-
 FROM osrf/ros:melodic-desktop-full-bionic
 
 # Set default shell

src/.vscode/c_cpp_properties.json

@@ -0,0 +1,16 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c11",
+            "cppStandard": "gnu++14",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

src/.vscode/settings.json

@@ -0,0 +1,66 @@
+{
+    "files.associations": {
+        "array": "cpp",
+        "bitset": "cpp",
+        "string_view": "cpp",
+        "initializer_list": "cpp",
+        "regex": "cpp",
+        "utility": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "*.tcc": "cpp",
+        "chrono": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "fstream": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp"
+    }
+}

src/.vscode/tasks.json

@@ -0,0 +1,28 @@
+{
+    "tasks": [
+        {
+            "type": "cppbuild",
+            "label": "C/C++: g++ build active file",
+            "command": "/usr/bin/g++",
+            "args": [
+                "-fdiagnostics-color=always",
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}/${fileBasenameNoExtension}"
+            ],
+            "options": {
+                "cwd": "${fileDirname}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "detail": "Task generated by Debugger."
+        }
+    ],
+    "version": "2.0.0"
+}

src/controls_lab_ur3_calib.yaml

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+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.1519010735629734
+    roll: -0
+    pitch: 0
+    yaw: 4.634905607502505e-08
+  upper_arm:
+    x: -0.0001502218476330159
+    y: 0
+    z: 0
+    roll: 1.571525622556669
+    pitch: 0
+    yaw: 2.434118529520919e-06
+  forearm:
+    x: -0.2436671404664339
+    y: 0
+    z: 0
+    roll: 3.137813499486348
+    pitch: 3.140117104380051
+    yaw: 3.141587839269064
+  wrist_1:
+    x: -0.2132179589483491
+    y: -0.0001550830051109289
+    z: 0.1313263639404954
+    roll: 0.001180897181410599
+    pitch: 0.0006496499988362674
+    yaw: 2.597372229028298e-06
+  wrist_2:
+    x: 1.59344894692773e-05
+    y: -0.08534391586236098
+    z: -8.859064304126133e-05
+    roll: 1.571834369288334
+    pitch: 0
+    yaw: 7.505352157845812e-06
+  wrist_3:
+    x: -0.0001950144461448812
+    y: 0.09202553898945699
+    z: -0.000227508576828372
+    roll: 1.568324098804467
+    pitch: 3.141592653589793
+    yaw: 3.141592161509155
+  hash: calib_586489923172046521