Working Gazebo simulation of UR5 with Robotiq 2-finger gripper controlled with MoveIt!.

This repository contains the packages ur5 and robotiq downloaded from https://github.com/utecrobotics/ur5. The robotiq_ur5 package contains the MoveIt setup to control the Gazebo simulation with MoveIt.

Go to your workspace/src

git clone https://github.com/lrlip/ur5_robotiq_2f_ws.git
cd ..
catkin_make
source devel/setup.bash

Install the ROS controllers

sudo apt-get install ros*controller*

The simulation is launched by:

$ roslaunch ur5_gazebo ur5_cubes.launch

or

$ roslaunch ur5_gazebo ur5_setup.launch

The Gazebo simulation starts in paused state. Before starting up MoveIt unpause the Gazebo simulation.

Launch the MoveIt control by:

$ roslaunch robotiq_ur5 robotiq_ur5_planning_execution.launch

You now should see the same posture in the Gazebo as the MoveIt environment. Set in Rviz the MotionPlanning/Planning Request/Planning Group to manipulator to drag the arm around. By Plan and Execute the arm will move to its new position.