jack2200 / move_group_tutorial_ur5

MoveGroup tutorial for UR5 (python interface)

MoveIt! MoveGroup tutorial for UR5 (python interface)

Adaptation of MoveIt! MoveGroup tutorial for Panda

Installation

We need to use fixed URDF/SRDF universal_robotics package (see here). Thus, we use a custom universal_robot repository.

mkdir -p ur5_ws/src && cd ur5_ws/src
git clone https://github.com/vfdev-5/universal_robot
git clone https://github.com/vfdev-5/move_group_tutorial_ur5.git
cd ../ & catkin_make

we need also to fix problem with pyassimp:

pip install --upgrade pyassimp

Install other dependencies:

cd ur5_ws/ && rosdep install --from-paths src --ignore-src -r -y

Usage:

Terminal 1

cd ur5_ws && source devel/setup.bash
roslaunch ur5_moveit_config demo.launch limited:=true

Terminal 2

cd ur5_ws && source devel/setup.bash
python src/move_group_tutorial_ur5/src/move_group_tutorial_ur5.py