This project was tested in Ubuntu 16.04 with ROS kinetic.
Make sure you have installed Python2.7 and some useful libraries/packages, such as Numpy, cv2, etc.
Install ur_gazebo, moveit, gazebo_ros
$ sudo apt-get install ros-kinetic-moveit
$ sudo apt-get install ros-kinetic-ur-gazebo
$ sudo apt-get install ros-kinetic-gazebo-ros
- Assuming your universal robot workspace is named as
arm_ws
, copy the package (ur5_ROS-Gazebo,universal_robot,usb_cam) intoarm_ws/src/
$ mkdir -p arm_ws/src $ cd arm_ws/src
catkin in arm_ws.
$ catkin_make
$ source devel/setup.bash
Run the code with ROS and Gazebo
$ roslaunch ur5_notebook initialize.launch