summit_xls_ur5_common

Common package for the Summit XL Steel + UR5 arm for ROS Melodic.

Depends

Clone the following into catkin workspace and switch to the melodic branches in al

• robotnik msg
• robotnik sensors
• summit XL Common
• ur description

Find any other missing ROS dependencies using rosdep

rosdep install --from-paths src --ignore-src --rosdistro melodic -y

And then build them using catkin.

Test RVIZ

To test your installation, run

roslaunch summit_xls_ur5_description summit_xls_ur5_omni_rviz.launch 

Test Gazebo, RVIZ and Moveit

roslaunch summit_xls_ur5_sim summit_xls_ur5_gazebo.launch

Launch RVIZ separately

roslaunch summit_xls_ur5_moveit_config moveit_rviz.launch

And use the motion planning plugin (should be already loaded) to calculat trajectories

Control arm joints directly

roslaunch summit_xls_ur5_sim summit_xls_ur5_gazebo.launch

Then run this to control the arm

ROS_NAMESPACE=summit_xls rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller