Simulation environment for ur5
This repository intends to provide a simulation environment (Gazebo+ROS+Rviz) for the development of pick and place functions with the UR5.
It is based in the following packages:
https://github.com/utecrobotics/ur5
https://github.com/JenniferBuehler/common-sensors
https://github.com/utecrobotics/robotiq
https://github.com/philwall3/UR5-with-Robotiq-Gripper-and-Kinect
https://github.com/lihuang3/ur5_ROS-Gazebo
Create a catkin workspace:
$ source /opt/ros/kinetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
Clone the git repository:
$ cd ~/catkin_ws/src/
$ git clone https://github.com/Ubira/fasten-ur5.git
Build the catkin workspace:
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
For simulation with Gazebo run the command:
$ roslaunch ur5_gazebo ur5_setup.launch
The following world should appear in your Gazebo's GUI (make sure to start the simulation):
It's possible to run python scripts like "testmotion.py" with the command:
$ rosrun ur5_gazebo testmotion.py
In case of writing a new script make sure to make it executable with (in the file folder):
$ chmod +x YOUR_PYTHON_SCRIPT.py