ur5e_hande

ROS/MoveIt! configurations for a UR5e with a Robotiq Hand-E Gripper. This configuration was created by following this tutorial from Robotics Casual.

Installation

1. Install campbel's robotiq package.
2. Install fmauch's universal_robot package.

git clone -b noetic-devel https://github.com/cambel/robotiq.git
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git

Usage

Bring up the moveit/gazebo demo

roslaunch ur5e_hande_moveit_config demo_gazebo.launch moveit_controller_manager:=ros_control

Coming Soon:

• Example for opening only moveit without the rviz interface (for planning via python)
• Simple grasp planning (pick and place)