https://github.com/zaki-x86/ur5e_ws
UR5e robot simulation workstation
https://github.com/zaki-x86/ur5e_ws
docker gazebo moveit2 ros2-humble rviz2 ur5e
Last synced: 18 days ago
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UR5e robot simulation workstation
- Host: GitHub
- URL: https://github.com/zaki-x86/ur5e_ws
- Owner: zaki-x86
- License: mit
- Created: 2024-12-22T02:09:51.000Z (4 months ago)
- Default Branch: main
- Last Pushed: 2025-01-07T14:50:21.000Z (4 months ago)
- Last Synced: 2025-02-14T17:58:13.986Z (2 months ago)
- Topics: docker, gazebo, moveit2, ros2-humble, rviz2, ur5e
- Language: Python
- Homepage:
- Size: 3.31 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# UR5e Workstation
## Packages
- `ur5e_sim` generates robot description and runs gazebo simulation.
- `ur5e_moveit_config` generated moveit configurations for the robot.
- `movetest` a simple test code that gives a target post to the arm to execute.
## How to start
- Build the image while standing at the root directory:
```bash
scripts/compose.sh build
```
- Run the container:
```bash
scripts/compose.sh start # By default it runs on cpu, otherwise, use: scripts/compose.sh start gpu
```
> Container will run in daemon mode.
- Access the container:
```bash
docker exec -it ur5e_workstation_cpu bash
```
- Inside the container, source the entrypoint script:
```bash
. docker/entrypoint.sh
```
- Start the demo launch to plan motion:
```
ros2 launch ur5e_moveit_config demo.launch.py
```