This repo contains all the modified ROS2 drivers for robots used in the AI4CE Lab, including Universal Robots UR10e and UFACTORY xArm6.
We made these adaptations to work with some (physical) constraints in our lab, support additional features and so on.
All packages are developed at the AI4CE lab at New York University.
Packages are tested on Ubuntu 22.04 and ROS2 Humble. However, most of them do not rely on OS and ROS2 distro-specific features, so they should be easily portable.
Author(s): Irving Fang
Teleoperation and Robotiq grippers integration for UR10e
Teleoperation and camera mount integration for xArm6
TODO: Independent, robot-agnostic driver for Robotiq gripper