This package enables an UR5 arm with a Robotiq 85 Gripper to be used with MoveIt!.

It depends from the packages from the following repositories:

https://github.com/ros-industrial/robotiq

https://github.com/ros-industrial/universal_robot

The packages is available for ROS Melodic and you have to build the packages from source.

The following instructions assume that a [Catkin workspace][] has been created at $HOME/catkin_ws and that the source space is at $HOME/catkin_ws/src. Update paths appropriately if they are different on the build machine.

These instructions build the package on a ROS Melodic system:

$ cd $HOME/catkin_ws/src

# retrieve the sources
$ git clone [email protected]:VictorWilvert/ur5robotiq.git

$ cd $HOME/catkin_ws

# checking dependencies
$ rosdep update
$ rosdep install --rosdistro melodic --ignore-src --from-paths src

# building
$ catkin_make

Finally, activate the workspace to get access to the packages just built:

# activate this workspace
$ source $HOME/catkin_ws/devel/setup.bash

At this point all packages should be usable.

Open two terminals. In the first terminal start RViz and wait for everything to finish loading:

$ roslaunch ur5robotiq_moveit_config demo.launch

In the second terminal run the pick and place simulation:

$ rosrun ur5robotiq_manipulation pick_and_place