https://github.com/oneoneliu/ur5_gripper_moveit

Moveit configuration files for controlling ur5 robot and robotiq gripper using ROS1 or ROS2
https://github.com/oneoneliu/ur5_gripper_moveit

moveit moveit2 robotiq-2f-85-gripper ros ros2 ros2-humble ur5-robot

Last synced: about 2 months ago
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Moveit configuration files for controlling ur5 robot and robotiq gripper using ROS1 or ROS2

• Host: GitHub
• URL: https://github.com/oneoneliu/ur5_gripper_moveit
• Owner: OneOneLiu
• Created: 2024-05-24T15:06:28.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2025-08-08T06:22:31.000Z (10 months ago)
• Last Synced: 2025-08-08T08:25:02.424Z (10 months ago)
• Topics: moveit, moveit2, robotiq-2f-85-gripper, ros, ros2, ros2-humble, ur5-robot
• Language: Python
• Homepage:
• Size: 22.8 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# UR5 机器人与Robotiq 2F-85 夹爪的 moveit 配置

> 这是一个使用moveit setup assistant 基于[这个模型文件](../ur5_robot_gripper/urdf/ur5_robotiq_description.xacro)生成的UR5机器人+Robotiq 2F-85夹爪的联合运动控制配置软件包. 自动生成的配置文件存在诸多问题, 除了下面ToDo中所列的事项, 这些问题均以解决

## ToDo

- [x] Add planning scene

- [x] Fix gripper joint limits issues

- [ ] Add buckle of the gripper for better visualization

- [ ] Fix random loading pose errors