Single Arm Control

Simulate the robot with moveit!

Real robot control with moveit!

We set the robot ip and headless mode to be true in launch file.

For the left arm control, use the command below:

roslaunch ur_robot_driver left_ur5e_bringup.launch   
roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch   
roslaunch ur5e_moveit_config moveit_rviz.launch config:=true   

For the right arm control, use the command below:

roslaunch ur_robot_driver right_ur5e_bringup.launch   
roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch   
roslaunch ur5e_moveit_config moveit_rviz.launch config:=true