hybrayhem/ur5_simulation

UR5 simulation environment with MoveIt, Gazebo, programmatic and jog control.

UR5 Simulation

UR5 simulation environment with MoveIt, Gazebo, programmatic and jog control. Tested on ROS Melodic and Noetic.

Run MoveIt

roslaunch ur5_moveit_config demo.launch 

Run MoveIt with Gazebo

Run commands in seperate terminals.

roscore
roslaunch ur_gazebo ur5.launch limited:=true
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

Run Pick Place Demo

rosrun ur5_move ur5_pick_place.py

Run Jog Control

0. Run Gazebo.

1. roslaunch jog_launch ur5.launch # use_joy:=true for gamepad

2. From Rviz, Panels(in menu bar) > Add New Panel > JogFramePanel

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On code changes:

cd <workspace>/
source devel/setup.bash
catkin build <packagename>
source devel/setup.bash

Helpful Resources

• http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html
• https://github.com/ros-industrial/universal_robot
• https://github.com/tork-a/jog_control

ROS Graph