# ur_ws

**Repository Path**: mrwangmaomao/ur_ws

## Basic Information

- **Project Name**: ur_ws
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 5
- **Forks**: 1
- **Created**: 2020-08-30
- **Last Updated**: 2022-09-30

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### Implementation of UR5 pick and place in ROS-Gazebo with a USB cam and vacuum grippers. 


## How to use this code
### step 1 

This project was tested in Ubuntu 16.04 with ROS [kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu).

### step 2

Make sure you have installed Python2.7 and some useful libraries/packages, such as Numpy, cv2, etc.

### step 3
Install ur_gazebo, moveit, gazebo_ros
  ```
  $ sudo apt-get install ros-kinetic-moveit
  $ sudo apt-get install ros-kinetic-ur-gazebo
  $ sudo apt-get install ros-kinetic-gazebo-ros
  ```

### step 4
- Assuming your universal robot workspace is named as `arm_ws`, copy the package (ur5_ROS-Gazebo,universal_robot,usb_cam) into `arm_ws/src/`
  ```
  $ mkdir -p arm_ws/src 
  $ cd arm_ws/src
  ```

### step 5 
catkin in arm_ws.
  ```
  $ catkin_make
  $ source devel/setup.bash  
  ```
### step 6
Run the code with ROS and Gazebo
  ```
  $ roslaunch ur5_notebook initialize.launch 
  ```