Extension to the mobile manipulator project code for running Gazebo simulations.
This repository is no longer maintained.
The UR packages are not available from apt, so clone from source into the workspace:
git clone https://github.com/ros-industrial/universal_robot
Robotiq must also be cloned:
git clone https://github.com/ros-industrial/robotiq
Ridgeback packages can be installed from apt:
sudo apt install ros-<distro>-ridgeback-simulator ros-<distro>-ridgeback-control ros-<distro>-ridgeback-description
We also need some generic control infrastructure:
sudo apt install ros-<distro>-ros-control ros-<distro>-ros-controllers ros-<distro>-gazebo-ros-control
Run roslaunch mm_gazebo simulation.launch.
mm_description: URDF for the robot.mm_gazebo: Launch files for setting up and running the simulation.mm_gazebo_interface: Sets up control interfaces for the Gazebo simulation.