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universal_robot: ur_bringup | ur_description | ur_gazebo | ur_kinematics

Package Summary

Gazebo wrapper for the Universal UR5/10 robot arms.

universal_robot: ur10_moveit_config | ur5_moveit_config | ur_bringup | ur_description | ur_driver | ur_gazebo | ur_kinematics | ur_msgs

Package Summary

Gazebo wrapper for the Universal UR5/10 robot arms.

  • Maintainer status: developed
  • Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
  • Author: Alexander Bubeck, Shaun Edwards <sedwards AT swri DOT org>, Felix Messmer <fxm AT ipa.fhg DOT de>
  • License: BSD
  • Source: git https://github.com/ros-industrial/universal_robot.git (branch: hydro)
universal_robot: ur10_moveit_config | ur3_moveit_config | ur5_moveit_config | ur_bringup | ur_description | ur_driver | ur_gazebo | ur_kinematics | ur_msgs

Package Summary

Gazebo wrapper for the Universal UR5/10 robot arms.

  • Maintainer status: developed
  • Maintainer: Felix Messmer <fxm AT ipa.fhg DOT de>, G.A. vd. Hoorn <g.a.vanderhoorn AT tudelft DOT nl>
  • Author: Alexander Bubeck, Shaun Edwards <sedwards AT swri DOT org>, Felix Messmer <fxm AT ipa.fhg DOT de>
  • License: BSD
  • Source: git https://github.com/ros-industrial/universal_robot.git (branch: indigo)
universal_robots: ur10_e_moveit_config | ur10_moveit_config | ur3_e_moveit_config | ur3_moveit_config | ur5_e_moveit_config | ur5_moveit_config | ur_bringup | ur_description | ur_driver | ur_e_description | ur_e_gazebo | ur_gazebo | ur_kinematics | ur_msgs

Package Summary

Gazebo wrapper for the Universal UR5/10 robot arms.

  • Maintainer status: developed
  • Maintainer: G.A. vd. Hoorn <g.a.vanderhoorn AT tudelft DOT nl>, Miguel Prada Sarasola <miguel.prada AT tecnalia DOT com>, Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>
  • Author: Alexander Bubeck, Shaun Edwards, Felix Messmer
  • License: BSD
  • Source: git https://github.com/ros-industrial/universal_robot.git (branch: kinetic)

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.


2019-08-24 13:25