Universal robot with robotiq hand workspace

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** 如果想实现在网页端控制UR机械臂，请参考这两个仓库：UR3网页控制, UR5网页控制, UR3的是根据UR5的修改的，所以请先浏览UR5链接内的内容。**

Build

source /opt/ros/kinetic/setup.bash
cd ur_ws/
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
catkin build

• if rosdep init & rosdep update failed,please visit ROS -sudo rosdep init 失败解决方法

Run

source ~/ur_ws/devel/setup.bash
roslaunch ur_platform_gazebo ur_platform_gazebo.launch

Grasp

The other terminal

rosrun ur_platform_manipulation grasp_object.py

Camera Images

RGB image

Depth image

Multiple Arms