Hello all,

I am trying to create my own custom application with UR5e + robotiq2f85 gripper. So far, I created my custom xacro and urdf files using the following two descriptions:

• https://github.com/fmauch/universal_robot/blob/calibration_devel/ur_description/urdf/inc/ur5e_macro.xacro
• https://github.com/jr-robotics/robotiq/blob/noetic-devel/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro

I followed the MSA and created two planning groups, manipulator and gripper. Within my MSA generated packages, I can run the demo.launch file successfully and send movements from Rviz motion planning interface to both groups. I also prepared my own ROS nodes to interact with both groups using python moveit _ommander interface.

Since it's my first time working with the actual hardware, what I am missing are the steps from now on.

• How do I actually run my custom setup with the actual robot?

The documentation for the default UR package states that I should run:

roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]

And then moveit_config package:

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true

• Changing from default to custom moveit setup, should I change anything in the ur_bringup launch file?
• In order to connect to the real robot, should I add/change launch files in my package that was generated by MSA?

Thank you for your help in advance.