A moveit! robot environment includes UR robot(UR5e), Robotiq 2 fingers gripper and kinect camera.
- Install UR package first. See universal_robots for more details.
sudo apt-get install ros-kinetic-universal-robots
cd /path/to/catkin_ws/src
# retrieve the sources (replace '$DISTRO' with the ROS version you are using)
git clone -b $DISTRO-devel https://github.com/ros-industrial/universal_robot.git
- Clone this repo.
git clone https://github.com/BrianCmHunag/ros_ur5e_robitiq2f_kinect_robot.git
- Build the code
cd /path/to/catkin_ws
# checking dependencies (replace '$DISTRO' with the ROS version you are using)
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $DISTRO
# building
catkin_make
# source this workspace (careful when also sourcing others)
source /path/to/catkin_ws/devel/setup.bash
- Execute
roslaunch my_ur5e_gripper_kinect_config demo.launch