2018-01-02：Using UR robot with MoveIt

Getting Started with a Universal Robot and ROS-Industrial

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universal_robot：

• This stack is part of the ROS-Industrial program. It currently contains packages that provide nodes for communication with Universal's industrial robot controllers, URDF models for various robot arms and associated MoveIt packages.

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

Now we have build the package successfully.

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Next step, if we want to use it on UR5/UR10 Robot entity , we have to do the following:

• Firstly, we need tyo download ur_modern_driver

cd
git clone https://github.com/ThomasTimm/ur_modern_driver.git

Or you can download it directly from the repository and rename it with ur_modern_driver

编译ur_modern_driver的时候出现错误：

/home/liuqiang/Desktop/catkin_ur_robot/src/universal_robot/ur_modern_driver/src/ur_hardware_interface.cpp: In member function ‘bool ros_control_ur::UrHardwareInterface::canSwitch(const std::__cxx11::list&, const std::__cxx11::list&) const’:
/home/liuqiang/Desktop/catkin_ur_robot/src/universal_robot/ur_modern_driver/src/ur_hardware_interface.cpp:180:22: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’
   if (controller_it->hardware_interface

解决方法详见修改后的源码：
https://github.com/LiuQiangBlog/ur_modern_driver

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