Launch Gazebo Simulation Environment

UR3:

ros2 launch ur3_ros2_gazebo ur3_simulation.launch.py

UR5:

ros2 launch ur5_ros2_gazebo ur5_simulation.launch.py

UR10:

ros2 launch ur10_ros2_gazebo ur10_simulation.launch.py

Launch Gazebo + MoveIt!2 Environment

UR3:

ros2 launch ur3_ros2_moveit2 ur3.launch.py

UR5:

ros2 launch ur5_ros2_moveit2 ur5.launch.py

UR10:

ros2 launch ur10_ros2_moveit2 ur10.launch.py

Launch Gazebo + MoveIt!2 Environment + ROS2 Robot Triggers/Actions

UR3:

ros2 launch ur3_ros2_moveit2 ur3_interface.launch.py

UR5:

ros2 launch ur5_ros2_moveit2 ur5_interface.launch.py

UR10:

ros2 launch ur10_ros2_moveit2 ur10_interface.launch.py