test environment:ubuntu14.04

In order to run this code, install the following packages beforehand:

$ sudo apt-get install ros-indigo-pr2-mechanism-model ros-indigo-pr2-controller-manager ros-indigo-control-toolbox ros-indigo-pr2-mechanism-controllers

after you install the dependencies and clone the code in your workspace,you can run the following lines of code

$ roslaunch arm_car_rviz_simulation ur10_car_simulation.launch

To test the simulation, you can manually move the UR robot in velocity control mode like so:

$ rostopic pub -r 20 /arm_vel/command iai_control_msgs/MultiJointVelocityImpedanceCommand '{velocity:[1,0,0,0,0,0]}'

Here you are commanding the first joint with a velocity of 1rad/s

To test the UR robot simulation in position control mode do the following:

$ rostopic pub -r 20 /arm_pos_controller/command std_msgs/Float32MultiArray '{data:[0,1.57,0,0,0,0]}'

Position values per joint are in [rad].

To test the car,you can manually move the car in the direction of x and y like so:

$ rostopic pub /cmd_vel geometry_msgs/Twist '{linear:[1,1,0],angular:[0,0,1]}'