ur10_gazebo_ros_control2

This holds the packages to debug the ur10 with gazebo ros2 control plugin

Start Gazebo with controllers only

ros2 launch ur10_gazebo ur10_gazebo.launch.py 

Start Gazebo RViz and Moveitcpp with a demo node

ros2 launch ur10_moveit_demo_nodes ur10_gazebo_demo.launch.py

Prerequisities

on workspace the commit of gazebo_ros2_control with id a33ea2

moveit from source (ros control gets installed with moveit)