neka-nat / ur_ws

Universal robot with robotiq hand workspace
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gazebo moveit robotiq ros universal-robot

Universal robot with robotiq hand workspace

Build

source /opt/ros/kinetic/setup.bash
cd ur_ws/src
wstool update
cd ../
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
catkin build

Run

source devel/setup.bash
roslaunch ur_robotiq_gazebo ur_robotiq_gazebo.launch

ur_robotiq

Grasp

The other terminal

rosrun ur_robotiq_manipulation grasp_object.py

grasping

Camera Images

RGB image

rbg

Depth image

depth

Multiple Arms

multi_arms