基本配置:Ubuntu18.04+ROS melodic
1. 源码下载
cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git
git clone https://github.com/woo-rookie/ur_modern_driver.git
#原版本有报错
#将universal_robot下的ur_driver替换为上面下载的ur_modern_driver
2. 项目依赖安装
cd ..
rosdep update
rosdep install --from-paths --ignore-src --rosdistro melodic
catkin_make
source devel/setup.bash
3. 仿真
#启动gaz