ur5

ROS packages for the UR5 Robot with a Robotiq gripper

Installation

This will assume that you already have a catkin workspace. Go to the source directory of the workspace

  $ roscd; cd ../src

Clone this and the gripper (robotiq) repositories

  $ git clone https://github.com/utecrobotics/ur5
  $ git clone https://github.com/utecrobotics/robotiq

Build using catkin_make

  $ cd ..
  $ catkin_make

Visualization of UR5 in RViz

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

  $ roslaunch ur5_description display_with_gripper.launch

You can then use the sliders to change the joint values and the gripper values.

Simulation in Gazebo

To simulate the robot launch the following:

  $ roslaunch ur5_gazebo ur5_cubes.launch

You should see something similar to the following picture:

By default the simulation starts paused. Unpause the simulation. You can then send commands to the joints or to the gripper.

The following is an example of an action client to change the gripper configuration. Open a new terminal, and then execute:

  $ rosrun ur5_gazebo send_gripper.py --value 0.5

where the value is a float between 0.0 (closed) and 0.8 (open).

An example of sending joints values to the robot can be executed as follows:

  $ rosrun ur5_gazebo send_joints.py

To change the values of the joints, the file send_joints.py must be modified.