ubuntu20 04 + ros noetic + ur

ubuntu20.04 + ros noetic + ur

ros1

鱼香ros一键ros1 yyds

ur

进入工作空间src目录，下载UR机械臂相关工具包

#clone the driver
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
#clone fork of the description. 
git clone https://github.com/ros-industrial/universal_robot.git src/universal_robot
rosdep update #如果之前在安装ros时候已经做了这步那就不用重复了
rosdep install --from-paths src --ignore-src -y 

catkin_make #开始编译
source devel/setup.bash

rviz+gazebo仿真环境用moveit路径规划同步运动

# 启动gazebo仿真环境
roslaunch ur_gazebo ur3_bringup.launch
# 如果gazebo报错，可能是之前的没有完全关闭，需要执行killall gzserver

# new terminal
# 在仿真中进行路径规划
roslaunch ur3_moveit_config moveit_planning_execution.launch sim:=true
roslaunch ur3_moveit_config moveit_rviz.launch