Custom workcell

Example about integrating an UR arm into a custom workspace. We will build a custom workcell description, start the driver and create a MoveIt config to enable trajectory planning with MoveIt.

Please see the package source code for all files relevant for this example.

Contents:

• Assembling the URDF
  • Workcell description
  • Workcell macro
• Start the ur_robot_driver
  • Create a description with ros2_control tag
  • Extract the calibration
  • Create robot_state_publisher launchfile
  • Create start_robot launchfile
  • Testing everything
• Build the MoveIt! config
  • Setup Assistant
  • Manual adaptions
  • Usage