ur_simulation_gz

This package contains configurations and example files for Gazebo simulation of Universal Robots manipulators.

Structure of the repository

To set up the simulation the used files are:

• urdf/ur_gz.ros2_control.xacro - macro for ros2_control configuration, defining the initial joint positions and the hardware interface plugin for the simulation

• urdf/ur_gz.urdf.xacro - main file that contains the robot description, defines reference for the Gazebo world and initializes ros2_control Gazebo plugin.

Contents:

• Installation
  • Setup ROS2 Workspace
  • Configure and build Workspace
• Usage
  • Launch Files
  • Customization