Need help on a basic python script that moves the robot through joint movements

axel.degrande · October 17, 2023, 7:57am

Hello,

I’m currently trying to make the UR10 robot move through ROS2 and I need help doing it. Current setup:

Ubuntu Linux - Jammy Jellyfish (22.04)
ROS2 Rolling Ridley
Universal Robots ROS2 Driver (Installed & working)

What I want to achieve: A python script that has the six angle values of the robot (entered manually). Those angles get send to the robot and the robot moves to them through a joint movement. Just a very bare bones script.

I can’t find any documentation or just an example script for this type of stuff. Also I’m not a professional ROS/ Linux user. So please explain like I’m just new. Do you guys have anything for me?

Thank you for helping me!

mauch · October 17, 2023, 8:31am

For testing purposes I once created this one:

github.com

fmauch/Universal_Robots_ROS2_Driver/blob/test_move_script/ur_robot_driver/scripts/test_move.py

#!/usr/bin/env python3
import time

import rclpy
from rclpy.action import ActionClient

from builtin_interfaces.msg import Duration
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from control_msgs.action import FollowJointTrajectory

TRAJECTORIES = {
    "traj0": [
        {
            "positions": [0.043128, -1.28824, 1.37179, -1.82208, -1.63632, -2.13071],
            "velocities": [0, 0, 0, 0, 0, 0],
            "time_from_start": Duration(sec=4, nanosec=0),
        },
        {
            "positions": [-0.195016, -1.70093, 0.902027, -0.944217, -1.52982, -0.195171],
            "velocities": [0, 0, 0, 0, 0, 0],

This file has been truncated. show original

I hope, that helps you getting started.

axel.degrande · October 17, 2023, 8:43am

Thank you, this is exactly what I needed!

axel.degrande · October 17, 2023, 8:49am

@mauch Is it possible to give me the Linux command for activating this script? I’m still a ROS2 beginner.

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Need help on a basic python script that moves the robot through joint movements

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