Tesseract and universal robots

[Tobimane]

Hey all,

I am currently trying to set up a ur10e or ur20 with tesseract in ros2 humble, but im struggling to get it to work. I am not sure if the problem is because of the urdf/srdf files i generated. So i wonder if there is a good resource or an example package for that?

Cheers,
T

[Levi-Armstrong]

Here are the tesseract examples: https://github.com/tesseract-robotics/tesseract_planning/tree/master/tesseract_examples/src

Here is an example via ROS: https://github.com/ros-industrial-consortium/scan_n_plan_workshop

[Tobimane]

Hey Levi,
Thanks for the links. Looking through them I can't find an example using a universal robots robot. Do you know if there's a repo implementing one of them?

[Levi-Armstrong]

There is really not many changes you have to make to leverage the UR instead of any other robot. If you have your URDF and SRDF the only thing you need to do is define that you want to use the UR inverse kinematics plugin.

Example:

• SRDF: https://github.com/tesseract-robotics/tesseract/blob/1bcf8eec888c66e649cb20ae2faf877298169510/tesseract_support/urdf/lbr_iiwa_14_r820.srdf#L46-L50
• Collision Plugins File: https://github.com/tesseract-robotics/tesseract/blob/master/tesseract_support/urdf/contact_manager_plugins.yaml
• Kinematic Plugins File: The file shown below.

kinematic_plugins:
  search_paths:
    - /usr/local/lib
  search_libraries:
    - tesseract_kinematics_ur_factories
  inv_kin_plugins:
    manipulator:
      default: URInvKin
      plugins:
        URInvKin:
          class: URInvKinFactory
          config:
            base_link: base_link
            tip_link: tool0
            model: UR10