Skip to content

chesterroh/ur5_gripper

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

39 Commits
 
 
 
 
 
 
 
 

Repository files navigation

All packages are built under Ubuntu 18.04 ROS1 melodic.

  • (remark) All launch files just call limited_joint_robot for moveit compatibility.

UR5 + Robotiq AF85 gripper

( AF85 gripper package has been imported from StanleyInnovation github repo : https://github.com/StanleyInnovation/robotiq_85_gripper )

  • AF85 + UR5 view
roslaunch ur5_gripper view_ur5_robotiq.launch
  • AF85 gripper gazebo launch
roslaunch ur5_gripper ur5_gazebo_robotiq.launch
  • AF85 moveit launch
roslaunch ur5_gripper_moveit_config move_group.launch
  • AF85 moveit rviz
roslaunch ur5_gripper_moveit_config moveit_rviz.launch config:=true

Because of GAZEBO instability with AF85 (robot breaks down after certain amount of vibration accumulation w/r/t AF85), I changed some of continuous joints of AF85 to 'fixed' from 'continous'.

For the static AF85 GAZEBO simulation, use the following command instead.

roslaunch ur5_gripper ur5_gazebo_robotiq_static.launch

UR5 + RG2 gripper

  • RG2 view - rviz
roslaunch ur5_gripper view_ur5_rg2.launch
  • RG2 gazebo launch
roslaunch ur5_gripper ur5_gazebo_rg2.launch