Single Arm Control

Simulate the robot with moveit!

move to catkin_ws and

roslaunch ur_gazebo ur5e_bringup.launch   
roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch sim:=true   
roslaunch ur5e_moveit_config moveit_rviz.launch config:=true   

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