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

---

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