Working ROS version for Gazebo+Moveit

Do any of you know a version of ROS that successfully can simulate a UR robot arm in Gazebo, so I can use the ROS move it package?

If so, would you please point me in the correct direction?

I don't care what version of Ubuntu I need to install, as long as I can run python3 on it.

I've tried Noetic, Galactic and Foxy so far with no luck.

I always encounter weird bugs when I get to the simulation part in Gazebo. I'm not good at ROS, so I might be at fault.

Asked by Jacob G. on 2023-07-30 16:06:55 UTC

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Answers

For Gazebo Classic, the unreleased package

https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation

can be built from source and I believe that the ros2 branch should work at least with Humble, Iron, or Rolling. It may work with Galactic or Foxy but ros2_control has been under heavy development, so I'd probably stick with more recent releases.

You will want to check on your version of gazebo_ros2_control and make sure it incorporates the recent changes from https://github.com/ros-controls/gazebo_ros2_control/pull/213. Otherwise you should build that from source too.

There were some problems until recently with unstable robot behavior with position control, see this issue for details:

https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/issues/19

However, PR#213 for gazebo_ros2_control fixed those problems for me.

Asked by danzimmerman on 2023-07-30 23:40:52 UTC