lihuang3

Did you see a green camera module on the end effector? Please refer to this issue 'https://github.com/lihuang3/ur5_ROS-Gazebo/issues/3#issuecomment-420861652'

@Martinpanzy Please refer to [L277](https://github.com/lihuang3/ur5_ROS-Gazebo/blob/8813376780063ccc3055afc39ae40be3a4b92c3d/ur5_mp.py#L277) and [L335](https://github.com/lihuang3/ur5_ROS-Gazebo/blob/8813376780063ccc3055afc39ae40be3a4b92c3d/ur5_mp.py#L335)

Hi @aositeluofu, if you strictly follow the instructions, the robot arm should start pick-and-place once you `roslaunch ur5_notebook initialize.launch`. You may find this discussion helpful https://github.com/lihuang3/ur5_ROS-Gazebo/issues/3#issue-359420939

@ghx-0228 The repo was named as `ur5_notebook`, but it has been changed to the current one just for easy understanding.

@zkgoodboy It seems that the error indicates some issues with the joint limit. Did you change the joint limit in `ur5_joint_limited_robot.urdf.xacro`? ``` shoulder_pan_lower_limit="${-2*pi}" shoulder_pan_upper_limit="${2*pi}" ```

@zkgoodboy Looks like you are using `kinetic-devel` version of Universal Robot, but this repo was based on `kinetic` version. This might be a possible reason.

@zkgoodboy check this most recent [issue](https://github.com/lihuang3/ur5_ROS-Gazebo/issues/12#issuecomment-490756615), you may ask him/her for details as he/she just made it work. Meanwhile, the recommended environment should have Ubuntu 16.04, Python 2.7, ROS kinetic...

@zkgoodboy That might be an issue. Before you roslaunch the program, test UR5 in Moveit. If there are errors with Moveit, try rebooting your laptop or reinstalling Moveit.

@zkgoodboy Not necessary. Just do `catkin make`.

No, we did not test the speed control as it was not within the scope of this project. You may find solutions in universal robot communities/forums.