The repository contains rail ceiling 2-DOF robot with arm. The ur10 arm example is available.
Install dependencies
sudo apt-get install ros-noetic-ur-description ros-noetic-rqt-joint-trajectory-controller
Download and build the repository
mkdir -p ~/rosws/src && cd ~/rosws/src
git clone https://github.com/kirillin/ceiling_arm_description.git
cd ~/rosws && catkin build
Start the gazebo and spawn the robot
source cd ~/rosws/devel/setup.bash
roslaunch ceiling_arm_description start_demo_gazebo_with_arm.launch
Test to control using a GUI
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller