This repo provides all necessary drivers and descriptions for tams' full ur5 setup in the lab including a matching moveit configuration.
To bring up the whole arm configuration with all drivers, the corner urdf, moveit and the camera:
roslaunch tams_ur5_setup_bringup tams_ur5_setup_floor_camera.launch
This launch file is included in the tams_ur5_setup.launch. You can set the use_kinect argument to true to bringup the kinect drivers, to false to bringup the mechmind camera.
You can also use this launch file to directly bring up the arm without a camera:
roslaunch tams_ur5_setup_bringup tams_ur5_setup_ur_robot_driver.launch
To start the setup without hardware, use the moveit demo mode:
roslaunch tams_ur5_setup_moveit_config demo.launch
This will bring up the same setup as tams_ur5_setup.launch and rviz but replaces the hardware drivers by moveits fake execution interfaces.
You can start this with a gui for the joint states of the ur5 and the gripper:
roslaunch tams_ur5_setup_moveit_config demo.launch use_gui:=true