ROS packages for the UR5 Robot with a Robotiq90 gripper. We use robotiq85 to immitate the real Robotiq90 gripper.

To visualize the model of the robot with a gripper, launch the following:

$ roslaunch ur5_with_robotiq90_config demo.launch

To control real UR5, launch the following:

$ roslaunch ur5_with_robotiq90_config ur5_bringup.launch robot_ip:=IP_OF_YOUR_ROBOT
$ rosrun ur5_with_robotiq90_config demo.py

You can control the arm by keyboard now.