Workspace for UR5 configuration in ROS
This repository intends to provide a simulation environment (Gazebo+ROS+Rviz) for the development of pick and place functions with the UR5.
Create a catkin workspace:
$ source /opt/ros/kinetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ cd ~/catkin_ws/src
Clone the git repository in the home folder:
$ git clone https://github.com/Zagitta/ur_modern_driver.git (follow this tutorial: https://github.com/olinrobotics/irl/wiki/Tutorial:-Setting-up-and-running-the-UR5-Robotic-Arm)
$ git clone https://github.com/ros-industrial/industrial_core.git
$ git clone https://github.com/ros-industrial/universal_robot.git
Build the catkin workspace:
$ cd ~/ur5_ws/
$ catkin_make
$ source devel/setup.bash
For simulation with Gazebo run the command:
$ roslaunch ur5_gazebo ur5.launch
A world should appear in your Gazebo's GUI with the UR5 in the center:
It's possible to run python scripts like "testmotion.py" with the command:
$ rosrun ur5_gazebo testmotion.py
In case of writing a new script make sure to make it executable with (in the file folder):
$ chmod +x YOUR_PYTHON_SCRIPT.py