This repo provides all necessary drivers and descriptions for tams' full ur5 setup in the lab including a matching moveit configuration.

Usage with the hardware

To bring up the whole arm configuration with all drivers, the corner urdf, moveit and the xtion camera you can use the following command:

roslaunch tams_ur5_setup_bringup tams_ur5_setup.launch

To bring up just the xtion camera with the apriltags_ros node and the camera positioner, use the following launch file:

roslaunch tams_ur5_setup_bringup camera.launch

This launch file is included in the tams_ur5_setup.launch. You can use the use_kinect argument to bringup the kinect drivers instead, in case the xtion is replaced by a kinect camera.

You can also use this launch file to directly bring up the setup with a kinect.

roslaunch tams_ur5_setup_bringup tams_ur5_setup_floor_kinect.launch

Usage with moveit demo mode

To start the setup without hardware, use the moveit demo mode:

roslaunch tams_ur5_setup_moveit_config demo.launch

This will bring up the same setup as tams_ur5_setup.launch and rviz but replaces the hardware drivers by moveits fake execution interfaces.

You can start this with a gui for the joint states of the ur5 and the gripper:

roslaunch tams_ur5_setup_moveit_config demo.launch use_gui:=true