Universal_Robots_ROS2_Gazebo_Simulation

Example files and configurations for Gazebo Classic simulation of Universal Robots' manipulators.

Build status

	Humble	Iron	Rolling
Branch	humble	iron	ros2
Build status

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Known issues

⚠️ The UR5 (non-e-series) model seems to be broken at the moment. Please see #34 ⚠️

All other models should be working correctly.

Using the repository

Skip any of below steps is not applicable.

Setup ROS Workspace

1. Create a colcon workspace:

   export COLCON_WS=~/workspaces/ur_gazebo
   mkdir -p $COLCON_WS/src
   

   NOTE: Feel free to change ~/workspaces/ur_gazebo to whatever absolute path you want.

   NOTE: Over time you will probably have multiple ROS workspaces, so it makes sense to them all in a subfolder. Also, it is good practice to put the ROS version in the name of the workspace, for different tests you could just add a suffix to the base name ur_gazebo.

2. Download the required repositories and install package dependencies:

   cd $COLCON_WS
   git clone git@github.com:UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation.git src/Universal_Robots_ROS2_Gazebo_Simulation
   vcs import src --input src/Universal_Robots_ROS2_Gazebo_Simulation/Universal_Robots_ROS2_Gazebo_Simulation.<ros-distro>.repos
   rosdep install --ignore-src --from-paths src -y
   cd ..
   

Configure and Build Workspace:

To configure and build workspace execute following commands:

cd $COLCON_WS
colcon build --symlink-install --mixin rel-with-deb-info compile-commands ccache

Running Simulation

ros2 launch ur_simulation_gazebo ur_sim_control.launch.py

Move robot using test script from ur_robot_driver package (if you've installed that one):

ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py

Example using MoveIt with simulated robot:

ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py