ur5_human_gazebo

Gazebo simulation of human and Universal Robots ur5

Quick start

0. Open terminal and enter following commands one by one

1. sudo apt-get install ros-melodic-moveit ros-melodic-cob-srvs ros-melodic-ros-controllers

2. cd ~/catkin_ws/src

3. git clone https://github.com/DroppedOut/ur5_human_gazebo

4. cd ..

5. rosdep install -r --from-paths src --ignore-src --rosdistro melodic

6. mkdir devel/include/ur5_notebook

7. cp src/ur5_human_gazebo/ur5_notebook/blocks_poses.h devel/include/ur5_notebook/

8. catkin_make

9. source devel/setup.bash

10. cd src/ur5_human_gazebo/ur5_notebook && chmod +x *.py

11. To launch simulation enter "roslaunch ur5_notebook simulation.launch"

12. To launch robot enter "roslaunch ur5_notebook robot.launch"

13. To launch human enter "roslaunch ur5_notebook human.launch"