UMIRTX robot universal robot description and meshes for ROS and some demo stuff.
my apt list --installed (probably you need these):
ros-lunar-actionlib/stretchnow ros-lunar-actionlib-msgs/stretchnow ros-lunar-actionlib-tutorials/stretchnow ros-lunar-angles/stretchnow ros-lunar-bond/stretchnow ros-lunar-bond-core/stretchnow ros-lunar-bondcpp/stretchnow ros-lunar-bondpy/stretchnow ros-lunar-camera-calibration/stretchnow ros-lunar-camera-calibration-parsers/stretchnow ros-lunar-camera-info-manager/stretchnow ros-lunar-catkin/stretchnow ros-lunar-class-loader/stretchnow ros-lunar-cmake-modules/stretchnow ros-lunar-collada-parser/stretchnow ros-lunar-collada-urdf/stretchnow ros-lunar-common-msgs/stretchnow ros-lunar-common-tutorials/stretchnow ros-lunar-compressed-depth-image-transport/stretchnow ros-lunar-compressed-image-transport/stretchnow ros-lunar-control-msgs/stretchnow ros-lunar-control-toolbox/stretchnow ros-lunar-controller-interface/stretchnow ros-lunar-controller-manager/stretchnow ros-lunar-controller-manager-msgs/stretchnow ros-lunar-cpp-common/stretchnow ros-lunar-cv-bridge/stretchnow ros-lunar-depth-image-proc/stretchnow ros-lunar-desktop/stretchnow ros-lunar-desktop-full/stretchnow ros-lunar-diagnostic-aggregator/stretchnow ros-lunar-diagnostic-analysis/stretchnow ros-lunar-diagnostic-common-diagnostics/stretchnow ros-lunar-diagnostic-msgs/stretchnow ros-lunar-diagnostic-updater/stretchnow ros-lunar-diagnostics/stretchnow ros-lunar-dynamic-reconfigure/stretchnow ros-lunar-eigen-conversions/stretchnow ros-lunar-eigen-stl-containers/stretchnow ros-lunar-executive-smach/stretchnow ros-lunar-filters/stretchnow ros-lunar-forward-command-controller/stretchnow ros-lunar-gazebo-dev/stretchnow ros-lunar-gazebo-msgs/stretchnow ros-lunar-gazebo-plugins/stretchnow ros-lunar-gazebo-ros/stretchnow ros-lunar-gazebo-ros-pkgs/stretchnow ros-lunar-gencpp/stretchnow ros-lunar-geneus/stretchnow ros-lunar-genlisp/stretchnow ros-lunar-genmsg/stretchnow ros-lunar-gennodejs/stretchnow ros-lunar-genpy/stretchnow ros-lunar-geometric-shapes/stretchnow ros-lunar-geometry/stretchnow ros-lunar-geometry-msgs/stretchnow ros-lunar-geometry-tutorials/stretchnow ros-lunar-gl-dependency/stretchnow ros-lunar-gpsd-client/stretchnow ros-lunar-graph-msgs/stretchnow ros-lunar-hardware-interface/stretchnow ros-lunar-image-common/stretchnow ros-lunar-image-geometry/stretchnow ros-lunar-image-pipeline/stretchnow ros-lunar-image-proc/stretchnow ros-lunar-image-publisher/stretchnow ros-lunar-image-rotate/stretchnow ros-lunar-image-transport/stretchnow ros-lunar-image-transport-plugins/stretchnow ros-lunar-image-view/stretchnow ros-lunar-interactive-marker-tutorials/stretchnow ros-lunar-interactive-markers/stretchnow ros-lunar-joint-limits-interface/stretchnow ros-lunar-joint-state-controller/stretchnow ros-lunar-joint-state-publisher/stretchnow ros-lunar-joint-trajectory-controller/stretchnow ros-lunar-kdl-conversions/stretchnow ros-lunar-kdl-parser/stretchnow ros-lunar-laser-assembler/stretchnow ros-lunar-laser-filters/stretchnow ros-lunar-laser-geometry/stretchnow ros-lunar-laser-pipeline/stretchnow ros-lunar-librviz-tutorial/stretchnow ros-lunar-map-msgs/stretchnow ros-lunar-media-export/stretchnow ros-lunar-message-filters/stretchnow ros-lunar-message-generation/stretchnow ros-lunar-message-runtime/stretchnow ros-lunar-mk/stretchnow ros-lunar-moveit/stretchnow ros-lunar-moveit-commander/stretchnow ros-lunar-moveit-controller-manager-example/stretchnow ros-lunar-moveit-controller-manager-example-dbgsym/stretchnow ros-lunar-moveit-core/stretchnow ros-lunar-moveit-core-dbgsym/stretchnow ros-lunar-moveit-fake-controller-manager/stretchnow ros-lunar-moveit-fake-controller-manager-dbgsym/stretchnow ros-lunar-moveit-kinematics/stretchnow ros-lunar-moveit-kinematics-dbgsym/stretchnow ros-lunar-moveit-msgs/stretchnow ros-lunar-moveit-planners/stretchnow ros-lunar-moveit-planners-ompl/stretchnow ros-lunar-moveit-planners-ompl-dbgsym/stretchnow ros-lunar-moveit-plugins/stretchnow ros-lunar-moveit-resources/stretchnow ros-lunar-moveit-ros/stretchnow ros-lunar-moveit-ros-benchmarks/stretchnow ros-lunar-moveit-ros-benchmarks-dbgsym/stretchnow ros-lunar-moveit-ros-control-interface/stretchnow ros-lunar-moveit-ros-control-interface-dbgsym/stretchnow ros-lunar-moveit-ros-manipulation/stretchnow ros-lunar-moveit-ros-manipulation-dbgsym/stretchnow ros-lunar-moveit-ros-move-group/stretchnow ros-lunar-moveit-ros-move-group-dbgsym/stretchnow ros-lunar-moveit-ros-perception/stretchnow ros-lunar-moveit-ros-perception-dbgsym/stretchnow ros-lunar-moveit-ros-planning/stretchnow ros-lunar-moveit-ros-planning-dbgsym/stretchnow ros-lunar-moveit-ros-planning-interface/stretchnow ros-lunar-moveit-ros-planning-interface-dbgsym/stretchnow ros-lunar-moveit-ros-robot-interaction/stretchnow ros-lunar-moveit-ros-robot-interaction-dbgsym/stretchnow ros-lunar-moveit-ros-visualization/stretchnow ros-lunar-moveit-ros-visualization-dbgsym/stretchnow ros-lunar-moveit-ros-warehouse/stretchnow ros-lunar-moveit-ros-warehouse-dbgsym/stretchnow ros-lunar-moveit-runtime/stretchnow ros-lunar-moveit-setup-assistant/stretchnow ros-lunar-moveit-setup-assistant-dbgsym/stretchnow ros-lunar-moveit-sim-controller/stretchnow ros-lunar-moveit-sim-controller-dbgsym/stretchnow ros-lunar-moveit-simple-controller-manager/stretchnow ros-lunar-moveit-simple-controller-manager-dbgsym/stretchnow ros-lunar-moveit-visual-tools/stretchnow ros-lunar-moveit-visual-tools-dbgsym/stretchnow ros-lunar-nav-msgs/stretchnow ros-lunar-nodelet/stretchnow ros-lunar-nodelet-core/stretchnow ros-lunar-nodelet-topic-tools/stretchnow ros-lunar-nodelet-tutorial-math/stretchnow ros-lunar-object-recognition-msgs/stretchnow ros-lunar-octomap/stretchnow ros-lunar-octomap-msgs/stretchnow ros-lunar-ompl/stretchnow ros-lunar-opencv3/stretchnow ros-lunar-orocos-kdl/stretchnow ros-lunar-pcl-conversions/stretchnow ros-lunar-pcl-msgs/stretchnow ros-lunar-pcl-ros/stretchnow ros-lunar-perception/stretchnow ros-lunar-perception-pcl/stretchnow ros-lunar-pluginlib/stretchnow ros-lunar-pluginlib-tutorials/stretchnow ros-lunar-polled-camera/stretchnow ros-lunar-position-controllers/stretchnow ros-lunar-pyros-utils/stretchnow ros-lunar-python-orocos-kdl/stretchnow ros-lunar-python-qt-binding/stretchnow ros-lunar-qt-dotgraph/stretchnow ros-lunar-qt-gui/stretchnow ros-lunar-qt-gui-cpp/stretchnow ros-lunar-qt-gui-py-common/stretchnow ros-lunar-qwt-dependency/stretchnow ros-lunar-random-numbers/stretchnow ros-lunar-realtime-tools/stretchnow ros-lunar-resource-retriever/stretchnow ros-lunar-robot/stretchnow ros-lunar-robot-model/stretchnow ros-lunar-robot-state-publisher/stretchnow ros-lunar-ros/stretchnow ros-lunar-ros-base/stretchnow ros-lunar-ros-comm/stretchnow ros-lunar-ros-control-boilerplate/stretchnow ros-lunar-ros-core/stretchnow ros-lunar-ros-tutorials/stretchnow ros-lunar-rosbag/stretchnow ros-lunar-rosbag-migration-rule/stretchnow ros-lunar-rosbag-storage/stretchnow ros-lunar-rosbash/stretchnow ros-lunar-rosboost-cfg/stretchnow ros-lunar-rosbuild/stretchnow ros-lunar-rosclean/stretchnow ros-lunar-rosconsole/stretchnow ros-lunar-rosconsole-bridge/stretchnow ros-lunar-roscpp/stretchnow ros-lunar-roscpp-core/stretchnow ros-lunar-roscpp-serialization/stretchnow ros-lunar-roscpp-traits/stretchnow ros-lunar-roscpp-tutorials/stretchnow ros-lunar-roscreate/stretchnow ros-lunar-rosgraph/stretchnow ros-lunar-rosgraph-msgs/stretchnow ros-lunar-roslang/stretchnow ros-lunar-roslaunch/stretchnow ros-lunar-roslib/stretchnow ros-lunar-roslint/stretchnow ros-lunar-roslisp/stretchnow ros-lunar-roslz4/stretchnow ros-lunar-rosmake/stretchnow ros-lunar-rosmaster/stretchnow ros-lunar-rosmsg/stretchnow ros-lunar-rosnode/stretchnow ros-lunar-rosout/stretchnow ros-lunar-rospack/stretchnow ros-lunar-rosparam/stretchnow ros-lunar-rosparam-shortcuts/stretchnow ros-lunar-rospy/stretchnow ros-lunar-rospy-tutorials/stretchnow ros-lunar-rosservice/stretchnow ros-lunar-rostest/stretchnow ros-lunar-rostime/stretchnow ros-lunar-rostopic/stretchnow ros-lunar-rosunit/stretchnow ros-lunar-roswtf/stretchnow ros-lunar-rqt-action/stretchnow ros-lunar-rqt-bag/stretchnow ros-lunar-rqt-bag-plugins/stretchnow ros-lunar-rqt-common-plugins/stretchnow ros-lunar-rqt-console/stretchnow ros-lunar-rqt-dep/stretchnow ros-lunar-rqt-graph/stretchnow ros-lunar-rqt-gui/stretchnow ros-lunar-rqt-gui-cpp/stretchnow ros-lunar-rqt-gui-py/stretchnow ros-lunar-rqt-image-view/stretchnow ros-lunar-rqt-joint-trajectory-controller/stretchnow ros-lunar-rqt-launch/stretchnow ros-lunar-rqt-logger-level/stretchnow ros-lunar-rqt-moveit/stretchnow ros-lunar-rqt-msg/stretchnow ros-lunar-rqt-nav-view/stretchnow ros-lunar-rqt-plot/stretchnow ros-lunar-rqt-pose-view/stretchnow ros-lunar-rqt-publisher/stretchnow ros-lunar-rqt-py-common/stretchnow ros-lunar-rqt-py-console/stretchnow ros-lunar-rqt-reconfigure/stretchnow ros-lunar-rqt-robot-dashboard/stretchnow ros-lunar-rqt-robot-monitor/stretchnow ros-lunar-rqt-robot-plugins/stretchnow ros-lunar-rqt-robot-steering/stretchnow ros-lunar-rqt-runtime-monitor/stretchnow ros-lunar-rqt-rviz/stretchnow ros-lunar-rqt-service-caller/stretchnow ros-lunar-rqt-shell/stretchnow ros-lunar-rqt-srv/stretchnow ros-lunar-rqt-tf-tree/stretchnow ros-lunar-rqt-top/stretchnow ros-lunar-rqt-topic/stretchnow ros-lunar-rqt-web/stretchnow ros-lunar-rviz/stretchnow ros-lunar-rviz-plugin-tutorials/stretchnow ros-lunar-rviz-python-tutorial/stretchnow ros-lunar-rviz-visual-tools/stretchnow ros-lunar-self-test/stretchnow ros-lunar-sensor-msgs/stretchnow ros-lunar-shape-msgs/stretchnow ros-lunar-simulators/stretchnow ros-lunar-smach/stretchnow ros-lunar-smach-msgs/stretchnow ros-lunar-smach-ros/stretchnow ros-lunar-smclib/stretchnow ros-lunar-srdfdom/stretchnow ros-lunar-stage/stretchnow ros-lunar-stage-ros/stretchnow ros-lunar-std-msgs/stretchnow ros-lunar-std-srvs/stretchnow ros-lunar-stereo-image-proc/stretchnow ros-lunar-stereo-msgs/stretchnow ros-lunar-tf/stretchnow ros-lunar-tf-conversions/stretchnow ros-lunar-tf2/stretchnow ros-lunar-tf2-eigen/stretchnow ros-lunar-tf2-geometry-msgs/stretchnow ros-lunar-tf2-kdl/stretchnow ros-lunar-tf2-msgs/stretchnow ros-lunar-tf2-py/stretchnow ros-lunar-tf2-ros/stretchnow ros-lunar-theora-image-transport/stretchnow ros-lunar-topic-tools/stretchnow ros-lunar-trajectory-msgs/stretchnow ros-lunar-transmission-interface/stretchnow ros-lunar-turtle-actionlib/stretchnow ros-lunar-turtle-tf/stretchnow ros-lunar-turtle-tf2/stretchnow ros-lunar-turtlesim/stretchnow ros-lunar-urdf/stretchnow ros-lunar-urdf-parser-plugin/stretchnow ros-lunar-urdf-tutorial/stretchnow ros-lunar-urdfdom-py/stretchnow ros-lunar-vision-opencv/stretchnow ros-lunar-visualization-marker-tutorials/stretchnow ros-lunar-visualization-msgs/stretchnow ros-lunar-visualization-tutorials/stretchnow ros-lunar-viz/stretchnow ros-lunar-warehouse-ros/stretchnow ros-lunar-webkit-dependency/stretchnow ros-lunar-xacro/stretchnow ros-lunar-xmlrpcpp/stretchnow
build: cd ~/catkin_ws catkin_make
start the simulation with fake_controllers: source ~/catkin_ws/devel/setup.bash ; roslaunch umirtx_moveit_lunar demo.launch ;
start rviz and hw support: source ~/catkin_ws/devel/setup.bash; roslaunch umirtx_moveit_lunar xxx.launch;
start hw::comm.layer, type into another terminal: roslaunch umirtx_bringup bringup_lunar.launch ;
/This can be killed by pushing Ctrl+c in the terminal. (the robot will stop immediately, according to the internal position controller)
to start collision object demo, type into another terminal: rosrun pointcloud_demo pointcloud_demo ;
/in this terminal just push 'w','s','d','a','+','-' for drawing collision objects to interact with the trajectory planning.