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JingyuYang1997 / UR_with_Robotiq_grasp_gazebo

A grasp simulation environment in gazebo: UR robot arm with a 85mm robotiq gripper that can be drived to grasp things through moveit

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graspgazeborosrobotiq-gripperur

UR robot arm with Robotiq gripper grasp simulation in Gazebo

Platform

ubuntu16.04 ros-kinetic gazebo7

Install

cd YourWorkspace/src

git clone https://github.com/JingyuYang1997/UR_with_Robotiq_grasp_gazebo.git

cd ../..

catkin_make

source devel/setup.zsh

Some dependencies such as Moveit should be installed for compilation. Do it according to your compilation debug instructions.

Demo

roslaunch smart_grasping_sandbox_sample main.launch

roslaunch urwh_moveit_config urwh_planning_example_execution.launch

rosrun smart_grasping_sandbox_sample grasping_demo.py

then you will get the result like below:

About

A grasp simulation environment in gazebo: UR robot arm with a 85mm robotiq gripper that can be drived to grasp things through moveit

graspgazeborosrobotiq-gripperur

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Language:C++ 79.9%Language:Python 13.4%Language:CMake 4.9%Language:C 0.9%Language:Objective-C 0.6%Language:Shell 0.2%Language:Dockerfile 0.0%