cd ~/(YOUR_CATKIN_WORKSPACE)/src
sudo apt-get install ros-indigo-opencv3
git clone https://github.com/ros-industrial/universal_robot
git clone https://github.com/ThomasTimm/ur_modern_driver
git clone https://github.com/yupos0221/ur_moveit_planner.git

cd (YOUR_CATKIN_WORKSPACE)/src
sudo apt-get install ros-kinetic-opencv3
git clone https://github.com/ros-industrial/universal_robot
git clone -b iron-kinetic-devel https://github.com/iron-ox/ur_modern_driver
git clone https://github.com/yupos0221/ur_moveit_planner.git

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(ur_moveit_planner)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

cd (YOUR_CATKIN_WORKSPACE)
catkin_make

roslaunch ur_moveit_planner ur_robot.launch

roscd ur_moveit_planner/script
python action_client.py

roslaunch ur_moveit_planner ur_gazebo.launch

roscd ur_moveit_planner/script
python action_client.py