# UR3 實體手臂連線 ## 前置步驟 ### 安裝 Universal_Robots_ROS_Driver ``` sudo apt install ros-${ROS_DISTRO}-ur-robot-driver ros-${ROS_DISTRO}-ur-calibration ``` https://github.com/UniversalRobots/Universal_Robots_ROS_Driver ### 安裝 ros-industrial/universal_robot ``` sudo apt-get install ros-$ROS_DISTRO-universal-robots ``` https://github.com/ros-industrial/universal_robot ### 安裝 ExternalControl (URCAP) 到 UR3 的 teach pedant 上 https://github.com/UniversalRobots/Universal_Robots_ROS_Driver?tab=readme-ov-file#prepare-the-robot ## 開始連線 ### 1. Connect to robot ``` roslaunch ur_robot_driver ur3_bringup.launch robot_ip:=192.168.86.7 ``` > 後面接上 ur3 的 IP Address，可在 teach pedant 的 "File" > "About" 查看。 > 也須在 "Installation" > "External Control" 設定 Host 端的 IP（控制的電腦）。 <iframe width="560" height="315" src="https://www.youtube.com/embed/0QZ--8GnoEs?si=_4UY85UirFhBSX50" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe> ### 2. Start MoveIt! ``` roslaunch ur3_moveit_config moveit_planning_execution.launch limit:=true ``` ### 3. 接下來就能執行程式了 #### Realsense ROS SDK & Wrapper 安裝： https://github.com/IntelRealSense/realsense-ros/issues/2386#issuecomment-1264499208 <!-- ### (optional) ``` roslaunch ur3_moveit_config ur3_moveit_rviz.launch ``` ### Realsense ``` roslaunch realsense2_camera rs_camera.launch align_depth:=true ``` ### easy_handeye & aruco ``` roslaunch easy_handeye ur3_eye_to_hand_calibration.launch ``` -->