Force control calibration of sensor bias and load mass properties.
Running for simulation need package of ur5_description, which can be cloned firstly by: "git clone https://github.com/utecrobotics/ur5" Then you need to delete the node launch of "joint_state_publisher" in the display.launch in the pkg of ur5_description
cd ~/catkin_ws catkin build fc_calibration ur5_description roslaunch fc_calibration fc_calibration.launch