Works on Ubuntu 18.04 with ROS-Melodic & Gazebo 9.0.0 and Ubuntu 16.04 with ROS-Kinetic & Gazebo 7.16.
How to install:
* Install ROS-Melodic from: http://wiki.ros.org/melodic/Installation/Ubuntu
* First install moveit from: https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html
* Create a new catkin workspace with src directory
* Clone repositories into src directory:
- git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git
- git clone https://github.com/JenniferBuehler/general-message-pkgs.git
- git clone https://github.com/ozgraslan/ur5_robotiq140_kinect.git
- git clone https://github.com/RobotRose/kinect_description.git
- git clone https://github.com/ozgraslan/gazebo-pkgs.git
- git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git
- git clone https://github.com/ozgraslan/robotiq.git
* Before build: source ~/<ws_moveit>/devel/setup.bash
* Build the packages
How to use:
* Launch gazebo with robot: roslaunch ur5_gripper ur5_gripper.launch [limited:=true]
* Launch moveit: roslaunch ur5_gripper_moveit_config ur5_gripper_moveit_planning_execution.launch sim:=true [limited:=true]
* Launch rviz: roslaunch ur5_gripper_moveit_config moveit_rviz.launch config:=true