Example files and configurations for Gazebo simulation of Universal Robots' manipulators.
Humble | Iron | Jazzy | Rolling | |
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Branch | humble | iron | ros2 | ros2 |
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Skip any of below steps is not applicable.
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Create a colcon workspace:
export COLCON_WS=~/workspaces/ur_gz mkdir -p $COLCON_WS/src
NOTE: Feel free to change
~/workspaces/ur_gz
to whatever absolute path you want.NOTE: Over time you will probably have multiple ROS workspaces, so it makes sense to them all in a subfolder. Also, it is good practice to put the ROS version in the name of the workspace, for different tests you could just add a suffix to the base name
ur_gz
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Download the required repositories and install package dependencies:
cd $COLCON_WS git clone -b ros2 https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation.git src/ur_simulation_gz rosdep update && rosdep install --ignore-src --from-paths src -y
To configure and build workspace execute following commands:
cd $COLCON_WS
colcon build --symlink-install
First, source your workspace
source $COLCON_WS/install/setup.bash
ros2 launch ur_simulation_gz ur_sim_control.launch.py
Move robot using test script from ur_robot_driver
package (if you've installed that one):
ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py
Example using MoveIt with simulated robot:
ros2 launch ur_simulation_gz ur_sim_moveit.launch.py