This package provides the workcell description of the ur5e robot, Shunk egp50 gripper, and the robot cell from ipa_326.
vcs import src --skip-existing --input src/ur5e_cell/dependencies_rolling.repos
Build & source your workspace
colcon build --symlink-install
source install/setup.bash
Launch the workcell
ros2 launch ur5e_cell_description view_ur_cell.launch.py
Tip: To check xacro syntax during development
check_urdf <(xacro workcell.urdf.xacro)
vcs import src --skip-existing --input src/ur5e_cell/dependencies_rolling.repos
This will pull necessary drivers and moveit_config packages into the workspace
Build & source your workspace
colcon build --symlink-install
source install/setup.bash
Launch your robot driver and moveit
ros2 launch ur5e_cell_bringup ur5e_cell_bringup.launch.py
Necessary for RVIZ2
xhost local:root
Run docker container
docker-compose --file ~/ur_ws/src/ur5e_cell/docker/docker-compose.yaml up