ur_robot_driver安装与仿真启动

1、安装moveit

sudo apt-get install ros-melodic-moveit

2、创建工作空间

mkdir -p ~/catkin_ws/src

cd catkin_ws/src

git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git

git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot

3、切换路径，检查依赖

cd ~/catkin_ws/

rosdep update

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

4、编译

catkin_make

5、激活工作空间

source ~/catkin_ws/devel/setup.bash

6、仿真测试

分别在3个终端打开

#启动gazebo仿真环境
roslaunch ur_gazebo ur10.launch

#启动moveit规划执行文件
roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true

#启动rviz
roslaunch ur10_moveit_config moveit_rviz.launch config:=true