UR5 Tutorial

To use UR5 without ROS:

Refer to the python-urx repo.

UR5 Tutorial:

Bring up the robot:

roslaunch icl_phri_ur5_gripper_bringup ur5_bringup.launch with_gripper:=true limited:=true robot_ip:=192.168.1.129

Launch moveit scence:

roslaunch icl_phri_ur5_gripper_moveit_config ur5_gripper_moveit_planning_execution.launch limited:=true

roslaunch icl_phri_ur5_gripper_moveit_config moveit_rviz.launch config:=true

Launch gripper node

rosrun robotiq_c_model_control CModelRtuNode.py /dev/ttyUSB1

rosrun robotiq_c_model_control CModelSimpleController.py

rosrun robotiq_c_model_control CModelStatusListener.py

Launch force torque sensor

rosrun robotiq_force_torque_sensor rq_sensor _serial_id:="ttyUSB0"

Bring up all at once

roslaunch icl_phri_ur5_gripper_bringup ur5_with_gripper.launch