Ground Truth Measurement System

Measure the diameter of a branch that the UR5 arm is placed in front of. ROS2 humble is used.

How to run

1. Plug arduino into computer

2. Use the following commanda to allow ROS2 to see what the arduino is publishing

sudo chmod 777 /dev/ttyACM0

3. Start connection to the UR5 Run the following command if you are running a simulation

ros2 launch ur_robot_driver ur5e.launch.py robot_ip:=10.10.10.10 use_fake_hardware:=true

Run the following command if you are running on a real arm

ros2 launch ur_robot_driver ur5e.launch.py robot_ip:=169.254.177.220 use_fake_hardware:=false

4. Start Moveit

ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e