jih189 / melodic_ur_robotiq

Image for UR5e with ROS Melodic, Gazebo9 and Ubuntu 18.04

• Ubuntu 18.04 (Bionic)
• ROS Melodic
• Gazebo 9.11

It is recommended to get Nvidia support through rocker.

Set up Rocker

pip3 install git+https://github.com/osrf/rocker.git
pip3 install git+https://github.com/sloretz/off-your-rocker

Note: If you found the rocker is not in /usr/local/bin, then you may need to copy it from .local/bin.rocker.

The following steps outline how to build the docker image and then run the rocker command to start the container.

1. Build the docker image:

cd docker_image 

build_image.sh

2. Run the rocker command to run a new container:

rocker --nvidia --x11 --user --home --pulse melodic-ur-robotiq:latest

NOTE: make sure you have rocker installed!

Also, rocker doesn't allow the --rm command to remove the container after exiting, but if you install the add-on off-your-rocker, you can pass in standard docker arguments to rocker. For example, to utilize docker's --rm and --privileged options run:

rocker --oyr-run-arg " --rm --privileged" --nvidia --x11 --user --home --net host --pulse melodic-ur-robotiq:latest

NOTE: --net host is required to allow the UR5e to connect with the ROS UR Driver! It won't work without this option if you are using docker!!

Note: if you did not install install nvidia them you need to remote "--nvidia" from the launch_docker.sh

In this branch, we include the driver with realsense camera. Because we are using D435, when you are trying to launch the node for it, please run following command:

roslaunch realsense2_camera rs_d435_camera_with_model.launch

Note: because camera permission is not given in the image, you need to use chmod to modify the permission for /dev/video0,1,2,3.