ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
You could have a look at tams_ur5 and tams_ur5_setup for a complete urdf+moveit configuration that includes a ur5 arm.
In case you want to try it out: we use a custom fork of the universal_robot
description because they didn't want to merge our change upstream: https://github.com/ros-industrial/universal_robot/pull/267
To tackle your problem, you have to write your own urdf(/xacro) to describe a setup. The UR5 is just one piece of it then. Afterwards you can run the setup assistant to generate a moveit configuration from it.