UR5-Robot

This repository contains URDF and macro files for simulating the UR5 robotic arm and Robotiq85 gripper in Gazebo and other robotic simulators.

Install

• ROS Noetic
• Gazebo11

cd ~
mkdir -p grasp_ws/src
cd grasp/src
catkin_init_workspace

git clone https://github.com/llliuxiao/ur5_robot.git
git clone https://github.com/nilseuropa/realsense_ros_gazebo.git

cd ~/grasp_ws
catkin_make
source devel/setup.bash

Test your install

Executing these commands, rviz will show the gripper, ur5 and ur5-gripper respectively.

# display robotiq85 gripper
roslaunch robotiq_description display_robotiq85.launch

# display ur5
roslaunch ur5_description display.launch

# display ur5-gripper
roslaunch ur5_description display_with_gripper.launch

Test UR5 moveit config

roslaunch ur5_moveit_config demo_gazebo.launch

(The pkg was created following detailed tutorial)

Control ur5 with MotionPlanning Plugin in rviz

Control robotiq-gripper with MotionPlanning Plugin in rviz

Reference

• https://github.com/utecrobotics/ur5
• https://github.com/utecrobotics/robotiq
• https://github.com/nilseuropa/realsense_ros_gazebo
• https://roboticscasual.com