# Source global ros(optional)
$ source /opt/ros/<your_ros_version>/setup.bash
# Create a catkin workspace
$ mkdir -p catkin_ws/src && cd catkin_ws/src
# Clone this repo
$ git clone https://github.com/ar-mine/URobot-NTU.git
# Install Gazebo Plugin for mimic
$ git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git
# Install by using wstool
$ wstool init .
$ wstool merge -t . URobot-NTU/URobot.rosinstall
$ wstool update -t .
# Install dependencies
$ sudo apt update -qq
$ sudo apt dist-upgrade
$ rosdep update
$ cd ..
$ rosdep install --from-paths src --ignore-src -y
# Build the workspace
$ catkin build
# Activate the workspace (ie: source it)
$ source devel/setup.bash
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## How to simulate with gazebo
### 1. Just control with gui
$ roslaunch ur3e_robotiq_gazebo ur3e_gripper_bringup.launch
(Another command line)
$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
### 2. Control with Moveit!
$ roslaunch ur3e_robotiq_gazebo ur3e_gripper_bringup.launch
$ roslaunch ur3e_robotiq_moveit move_group.launch sim:=true
$ roslaunch ur3e_robotiq_gazebo rviz.launch