This is the ROS side repository that allows you to operate a UR3e robot with robotiq gripper 2f-85. Make sure the ROS work space is set up before running unity.
The git clone command allows you to download files from a remote server to your local computer. Therefore, the git clone command is specified first, followed by a link to the remote repository.
git clone https://github.com/Yadhukrishnank/UR3e_unity.git
Install docker and VS Code on your local computer. The installation of docker should complete correctly.
Navigate to ROS folder and open the work_space in VS Code.
cd UR3e_unity/ROS/
code .
Allow X11 Access on Host:
xhost +local:root
Open a remote window from the bottom left corner and Select "Reopen in container". The docker image will start to build.
catkin_make
source devel/setup.bash
Ensure that roscore is running. To launch the ROS-TCP connector and moveit launch file, enter the following commands
roslaunch ur_robotiq pose_est.launch
Open an another terminal. To run the pick and place nodes run the following command
rosrun ur_robotiq mover.py
Ros side setup is finished. For Unity side setup follow the link. For ROS2 setup follow the Link.
Follow the link for demo video. Final report [Final Report Rohith Ramakrishnan, Yadhu Krishnan.pdf]