ROS与UR3机械臂的仿真与实时控制

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