ur5e_natural_motion

Requirements

• moveit
• universal_robot

Optional Packages

• python3-catkin-tools (used catkin build for building)
• rqt_joint_trajectory_plot (used for plotting test trajectories)

Package Contents

ur5e_moveit_config

• This package contains the MoveIt! configuration files for a simulated UR5e robot

natural_motion

• This package houses code and tests that deal with creating natural, velocity-controlled movements for a simulated UR5e robot

Running

Custom launch files were created for starting the simulated UR5e:

• launch/ur5e_gazebo_bringup.launch starts a Gazebo instance that loads the robot model and a model for its table and a wall
  • roslaunch natural_motion ur5e_gazebo_bringup.launch
• launch/ur5e_planning_execution.launch starts an instance of RViz with the MoveIt! planning plugin and links it to a Gazebo-simulated arm
  • roslaunch natural_motion ur5e_planning_execution.launch

Alternatively, roslaunch ur_gazebo ur5e_bringup.launch can be used to start a Gazebo instance with no other custom models in the scene.