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Single Arm Control

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Yaesol Kim edited this page Dec 9, 2021 · 4 revisions

Simulate the robot with moveit!

Choose 1 or 2

  1. move to catkin_ws and
roslaunch ur_gazebo ur5e_bringup.launch   
roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch sim:=true   
roslaunch ur5e_moveit_config moveit_rviz.launch config:=true
  1. move to catkin_ws and
roslaunch ur_e_gazebo ur5e.launch
roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch sim:=true
roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true

Real robot control with moveit!

We set the robot ip and headless mode to be true in launch file.

For the left arm control, use the command below:

roslaunch ur_robot_driver left_ur5e_bringup.launch   
roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch   
roslaunch ur5e_moveit_config moveit_rviz.launch config:=true

For the right arm control, use the command below:

roslaunch ur_robot_driver right_ur5e_bringup.launch   
roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch   
roslaunch ur5e_moveit_config moveit_rviz.launch config:=true

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