Custom MoveIt 2 configuration for Universal Robot 5 (UR5) robot with OnRobot RG2 gripper. If you have accidentally stumbled upon this repository and you need to control UR with MoveIt 2, you are most probably looking for UniversalRobots/Universal_Robots_ROS2_Driver instead.
This configuration was tested with ur5_rg2_ign in a simulated Ignition Gazebo environment. If you are working with a real robot, please use the official Universal_Robots_ROS2_Driver.