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Robot workcell description package

This package provides the workcell description of the ur5e robot, Shunk egp50 gripper, and the robot cell from ipa_326.

vcs import src --skip-existing --input src/ur5e_cell/dependencies_rolling.repos

Build & source your workspace

colcon build --symlink-install
source install/setup.bash

Launch the workcell

ros2 launch ur5e_cell_description view_ur_cell.launch.py

Tip: To check xacro syntax during development

check_urdf <(xacro workcell.urdf.xacro)

Real Robot Bringup

vcs import src --skip-existing --input src/ur5e_cell/dependencies_rolling.repos

This will pull necessary drivers and moveit_config packages into the workspace

Build & source your workspace

colcon build --symlink-install
source install/setup.bash

Launch your robot driver and moveit

ros2 launch ur5e_cell_bringup ur5e_cell_bringup.launch.py 

Docker deployment on Real robot

Necessary for RVIZ2

xhost local:root

Run docker container

docker-compose --file ~/ur_ws/src/ur5e_cell/docker/docker-compose.yaml up