swagatk/myur5sim

Gazebo Simulation with UR5 robot

Moveit Gazebo UR5 Simulation on ROS-MELODIC

• Create a custom world environment for the UR5 robot to operate it.

Part - I:

• Controlling a UR5 model with moveit

$ roslaunch myur5_description myur5.launch
$ roslaunch myur5_moveit_config myur5_planning_execution.launch

Part - II:

• Writing a python node to control the robot arm
• Write a python subscriber to see the video feed from robot camera

$ roslaunch myur5_description myur5.launch
$ roslaunch myur5_moveit_config myur5_move_group_python.launch
$ rosrun myur5_moveit_config move_group_python_interface.py
$ rosrun myur5_moveit_config read_camera_image.py

Part - III:

• Velocity Control of UR5 Robot Arm