Custom launch and config files for UR compliance.
https://github.com/UTNuclearRobotics/nasa_ur_compliance
https://github.com/UTNuclearRobotics/ros_controllers/tree/kinetic-compliance/compliance_controller
git clone --recursive https://github.com/UTNuclearRobotics/nasa_ur_compliance
source nasa_ur_compliance/devel/setup.bash
roslaunch nasa_specific_launch ur5_ros_control.launch robot_ip:=192.168.1.2
roslaunch nasa_specific_launch ur5_moveit_planning_execution.launch
roslaunch nasa_specific_launch ur5_compliance.launch
rviz
rosservice call /compliance_controller/toggle_compliance "{}"
rosservice call /wrench_to_joint_vel_pub/disable_compliance_dimensions
rosservice call /wrench_to_joint_vel_pub/adjust_stiffness
rosservice call /wrench_to_joint_vel_pub/adjust_damping