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This package is part of the ROS-Industrial program. It is the MoveIt! configuration for the UR5 arm, generated automatically by the MoveIt Setup Assistant.

Getting Started

The current binary releases of the UR MoveIt configuration packages do not install all required dependencies upon installation (see universal_robot/issues/225). Be sure to install the moveit_simple_controller_manager package in addition to those mentioned below.

Install the package from package management, and run the MoveIt! planning demo:

$ sudo apt-get install ros-$ROS_DISTRO-ur5-moveit-config

$ roslaunch ur5_moveit_config demo.launch

This is not a real simulation, just a demonstration of the planning capability and the MoveIt! and RViz integration. For true simulation of a UR5, see the ur_gazebo package.

Additional information

See also the relevant sections in the readme on Github.

2024-06-15 13:48