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how simulate ur5 trajectory in ros-kinetic?

hello very good day

I am new with ros, I want to test a trajectory with ur5.

I use moveit, which generates several files as demo.launch but I don't understand how to program a path in which file. for me it is still confusing, the dependencies, files and structure of an application in ros, I appreciate your collaboration.

Asked by fabian vargas on 2019-08-03 12:01:43 UTC

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Answers

Start with the moveit tutorials, these use the UR5 arm. Panda arm rather than UR5 but it is a very similar setup process. https://ros-planning.github.io/moveit_tutorials/

I've previously written a tutorial on connecting to a physical arm: https://github.com/jaspereb/UR5_With_ROS_Moveit_Tutorial

You can also use the database feature of moveit to store poses that you set manually.

Asked by jasperb on 2019-08-28 19:02:42 UTC

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The MoveIt tutorials for Kinetic are written with a Franka Emika Panda robot as an example, not a UR5.

Asked by gvdhoorn on 2019-08-29 02:25:56 UTC

yes, sorry I had that completely wrong, was looking at the universal_robot package tutorial that I had open instead

Asked by jasperb on 2019-08-29 02:35:43 UTC