Get access to perception (laser / camera) on warehouse UR3e

ROSDS Support
1

Hi,

I’m working with the UR3e warehouse arm, and I’m trying to get camera/perception input into my code.

What I can confirm works:

  • Full arm control via the standard driver topics/actions (/joint_states, /scaled_joint_trajectory_controller/follow_joint_trajectory, etc.)

  • Gripper control via /robotiq_gripper_controller/gripper_cmd

  • MoveIt2 Cartesian planning (/compute_cartesian_path) executing real motion successfully

What I can’t find, anywhere:

  • No image/camera/depth/point-cloud topics in the full, unfiltered output of ros2 topic list

  • No camera-driver node in ros2 node list (checked multiple times, including after reconnecting)

  • No camera driver package installed — checked ros2 pkg list but nothing relevant turned up

Could you help me get access to perception?

Thanks!

2

Hi @ioana.calangiu ,

To access the camera topics, you need to run an additional system called Zenoh. Which rosject are you using to work with the arm? I understand that it does not include the steps required to run Zenoh.

Please send me an email at aezquerro@theconstruct.ai, and I’ll help you with the additional steps you need to set it up.

Best,