Universal_Robots_ROS2_GZ_Simulation

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

Build status

	Humble	Iron	Jazzy	Rolling
Branch	humble	iron	ros2	ros2
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Using the repository

Skip any of below steps is not applicable.

Setup ROS Workspace

1. Create a colcon workspace:

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

   NOTE: Feel free to change ~/workspaces/ur_gz 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_gz.

2. Download the required repositories and install package dependencies:

   cd $COLCON_WS
   git clone -b ros2 https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation.git src/ur_simulation_gz
   rosdep update && rosdep install --ignore-src --from-paths src -y
   

Configure and Build Workspace:

To configure and build workspace execute following commands:

cd $COLCON_WS
colcon build --symlink-install

Running Executable

First, source your workspace

source $COLCON_WS/install/setup.bash

ros2 launch ur_simulation_gz 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_gz ur_sim_moveit.launch.py