Gazebo simulation for UR5e robot with Robotiq Wrist Camera & 2F85 Adaptive Gripper
1. Source bash file in any terminal that will use this simulation:
source /home/notebooks/UR5e_Gripper_Gazebo/devel/setup.bash
2. Start Gazebo & Moveit:
roslaunch myur5e_gazebo myur5e.launch
#recreate moveit config for only the robot and gripper, not with table and pedestal anymore
roslaunch myur5e_gazebo myur5e_new.launch
3. Then we can control with rqt_joint_trajectory_controller gui or control with python file:
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
#random move to test gym environment
python3 ur5e_gazebo.py
roslaunch myur5e_description myur5e_rviz.launch