- git clone universal_robot ROS package using
git clone https://github.com/ros-industrial/universal_robot.git - install moveit_servo using
sudo apt install ros-melodic-moveit-servo
cd ur5_ws
roslaunch ur_gazebo ur5_bringup.launch
change gravity to 0 in the gazebo gui
roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch
use the following command to list currently available controllers:
rosrun controller_manager controller_manager list
In order for the joystick to work, we have to change the controller from eff_joint_traj_controller to joint_group_position_controller using:
rosservice call /controller_manager/switch_controller "start_controllers: ['joint_group_position_controller']
stop_controllers: ['eff_joint_traj_controller']
strictness: 0
start_asap: false
timeout: 0.0"
After everything is set, launch the following packages to start joystick teleoperation:
roslaunch icl_ur5_setup_moveit_config moveit_servo.launch
roslaunch ur5_joystick_control ur5_joy.launch