https://github.com/neka-nat/ur_ws

Universal robot with robotiq hand workspace
https://github.com/neka-nat/ur_ws

gazebo moveit robotiq ros universal-robot

Last synced: 11 months ago
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Universal robot with robotiq hand workspace

• Host: GitHub
• URL: https://github.com/neka-nat/ur_ws
• Owner: neka-nat
• Created: 2018-01-28T03:44:04.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2021-11-06T14:50:31.000Z (over 4 years ago)
• Last Synced: 2025-04-13T08:13:52.729Z (about 1 year ago)
• Topics: gazebo, moveit, robotiq, ros, universal-robot
• Language: C++
• Homepage:
• Size: 4.05 MB
• Stars: 27
• Watchers: 2
• Forks: 10
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

          
# Universal robot with robotiq hand workspace

## Build

```

source /opt/ros/kinetic/setup.bash

cd ur_ws/src

wstool update

cd ../

sudo rosdep init

rosdep update

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

catkin build

```

## Run

```

source devel/setup.bash

roslaunch ur_robotiq_gazebo ur_robotiq_gazebo.launch

```

![ur_robotiq](images/ur_robotiq.jpg)

## Grasp

The other terminal

```

rosrun ur_robotiq_manipulation grasp_object.py

```

![grasping](images/grasping.gif)

## Camera Images

RGB image

![rbg](images/camera_rgb_image.png)

Depth image

![depth](images/camera_depth_image.png)

## Multiple Arms

![multi_arms](images/multiple_arms.jpg)