Dependance

universal_robot

ur_modern_driver

robotiq

ros_canopen

How to use:

Find the robot ip address

UR’s teach-pendant -> Setup Robot -> Setup Network Menu -> ip address

Bring up the robot:

roslaunch icl_phri_ur5_gripper_bringup ur5_bringup.launch with_gripper:=true limited:=true robot_ip:=<robot ip address>

Launch Moveit! scence:

roslaunch icl_phri_ur5_gripper_moveit_config ur5_gripper_moveit_planning_execution.launch limited:=true

roslaunch icl_phri_ur5_gripper_moveit_config moveit_rviz.launch config:=true

If you want to bring up ur5 and Moveit! at once:

roslaunch icl_phri_ur5_gripper_bringup ur5_moveit_bringup.launch

Control the Gripper:

use the ur5_gripper_control package here