UR robot arm with Robotiq gripper grasp simulation in Gazebo

Platform

ubuntu16.04 ros-kinetic gazebo7

Install

cd YourWorkspace/src

git clone https://github.com/JingyuYang1997/UR_with_Robotiq_grasp_gazebo.git

cd ../..

catkin_make

source devel/setup.zsh

Some dependencies such as Moveit should be installed for compilation. Do it according to your compilation debug instructions.

Demo

roslaunch smart_grasping_sandbox_sample main.launch

roslaunch urwh_moveit_config urwh_planning_example_execution.launch

rosrun smart_grasping_sandbox_sample grasping_demo.py

then you will get the result like below: