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Overview

This package is part of the ROS-Industrial program.

Getting Started

The current binary releases of the UR MoveIt configuration packages do not install all required dependencies upon installation (see universal_robot/issues/225). Be sure to install the moveit_simple_controller_manager package in addition to those mentioned below.

To simulate a UR5 and control it in simulation, first install the necessary packages:

$ sudo apt-get install \
  ros-$ROS_DISTRO-ur-gazebo \
  ros-$ROS_DISTRO-ur5-moveit-config \
  ros-$ROS_DISTRO-ur-kinematics

Kinetic users should then also install the following packages:

$ sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

as detailed in these instructions

To launch the simulated arm and a controller for it, run:

$ roslaunch ur_gazebo ur5.launch

and in another terminal:

$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

To control the simulated arm from RViz, also run:

$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true

You should now be able to move the end effector goal to create a plan for the simulated arm to execute.

ur5-planning.png

Additional information

See also the sections Usage with Gazebo Simulation and MoveIt! with a simulated robot in the readme on Github.


2024-06-22 14:21