This project includes all necessary files reproduce a simulation of the UR5 Robotic Manipulator and a RobotIQ85 2 DoF robotic ARM.

At this point we only have the simulations of:

• Viewing the UR5 and gripper separately in rviz
• Viewing the UR5 and gripper as one in rviz
• Viewing the UR5 and gripper separately in gazebo
• Viewing the UR5 and gripper as one in gazebo
• Using the UR5 and gripper separately in rviz with MoveIt! rviz interface
• Using the UR5 and gripper as a standalone device in rviz with MoveIt! and check the execution in gazebo.
• Viewing and using the UR5 and gripper in simulation and visualization using rviz, moveit, gazebo and also viewing the octomap.

I based the structure of this repository using Stanley Automation RobotIQ85, the gazebo grasp plugin from Jenifer Buehler and UR5 from ROS-Industrial.

Below an image example of the outcome after the command:

    roslaunch ur5_robotiq_85_simulation simulation.launch world_name:='$(find ur5_picknplace)/worlds/ur5_cubes.world'

• Create a ROS ros workspace and compile an empty package:

    cd ~
    mkdir -p catkin_ws/src
    cd catkin_ws
    catkin_make

• Open the .bashrc with nano:

    nano ~/.bashrc

• Insert this line at the end of the ~/.bashrc file for sourcing your workspace:

    source ~/catkin_ws/devel/setup.bash

• Clone this repo in the ~/catkin_ws/src folder by typing:

    cd ~/catkin_ws/src
    git clone https://github.com/issaiass/ur5_robotiq85_picknplace.git --recursive
    git clone https://github.com/StanleyInnovation/robotiq_85_gripper.git
    git clone https://github.com/JenniferBuehler/gazebo-pkgs.git
    git clone https://github.com/ros-industrial/universal_robot.git
    cd ..

• Go to the root folder ~/catkin_ws and make the folder running catkin_make to ensure the application compiles.
• Now you can test in several ways the packages
• For viewing in rviz each element or the arm with the gripper, choose anyone of these launch files

    roslaunch ur5_picknplace view_arm.launch
    roslaunch ur5_picknplace vew_gripper.launch
    roslaunch ur5_picknplace vew_gripper_arm.launch    

• Visualizing in gazebo, choose anyone of these launch files

    roslaunch ur5_picknplace spawn_arm.launch
    roslaunch ur5_picknplace spawn_gripper.launch
    roslaunch ur5_picknplace spawn_gripper_arm.launch    

• For just visualizing in gazebo and rviz simultaneously, choose anyone of these launch files

    roslaunch ur5_picknplace arm_gazebo_rviz.launch
    roslaunch ur5_picknplace gripper_gazebo_rviz.launch
    roslaunch ur5_picknplace gripper_arm_gazebo_rviz.launch

• For controlling using rviz MoveIt! and visualizing the movement in gazebo for the gripper and the arm, choose anyone of these launch files

    roslaunch ur5_picknplace gripper_arm_rviz_moveit_gazebo.launch
    roslaunch ur5_robotiq_85_simulation simulation.launch world_name:='$(find ur5_picknplace)/worlds/ur5_cubes.world'
    roslaunch ur5_picknplace ur5_picknplace.launch # same as above line

• For loading the planning scene please ensure that the simulation is running and then

    rosrun ur5_picknplace planning_scene

• For using the picknplace application (but still not working) please ensure that the simulation is running, then load the planning scene (see above node) and then

    rosrun ur5_picknplace ur5_picknplace