Does anyone know where I can find a UR5e urdf or xacro that is compatible with the launch file in Section 2.1 of the Gazebo Sim Course, so that I can generate a UR5e in RViz?
Have you tried with the official UR Description package from Universal robots?
I have, but I am unsure what specific files I will need from the repository to generate the UR5e, and what to edit in them.
What you need is the ur.urdf.xacro file in the urdf folder and set the ur_type argument to “ur5e”.
Hi @rlgraf ,
I just explored through the UR Robot GitHub link that was shared above by @diego98cs.
The link basically has only the robot description for the robot without any Gazebo properties.
Now coming to Gazebo, you need to augment Gazebo properties to the UR description package.
You need to add the corresponding Gazebo properties. Since you have posted this issue under Gazebo Sim course, I am assuming that you want to use UR5e with Gazebo Sim and not Gazebo Classic version right?
If that is the case, then you must create Gazebo properties urdf/xacro files along with fake ROS2 joint controllers that will actuate the joints of the URxx robot on Gazebo.
Additionally, you will have to create the ROS-GZ bridge to enable communication between ROS2 and Gazebo Sim.
So, if you just use the UR description package, you will not be able to simulate the robot on Gazebo Sim directly. You need to add Gazebo properties and ROS2 Controls as separate additional urdf/xacro files and launch them along with the robot state publisher and joint state broadcaster (with ROS2 control).
Regards,
Girish
By creating Gazebo properties urdf/xacro files along with fake ROS2 joint controllers, do you mean these files are out there somewhere, or I will have to create them from scratch myself? If they are out there, could you direct me to them?
I presume the ROS-GZ bridge can be executed exactly how it is taught in the course?
Russell
Hi @rlgraf ,
They should be made available for the UR description package by Universal Robotics people in one of their GitHub repositories. Try to find them on GitHub.
If you cannot find, then you need to create them by yourself. Luckily for the purposes of Gazebo simulation, creating fake ROS2 controllers are quite easy. You can refer to the ROS2 Control course to get a quick idea. You won’t have to create hardware interfaces for control from scratch.
I would not say exactly, but the idea and concept is the same. This basically depends on what version of Gazebo Sim you have installed in your computer. If you are using the Fortress LTS version, then you need use ign messages. If you have Harmonic LTS installed, then you need to use gz messages. But either way, the ROS-GZ bridge implementation is the same, as provided in the Gazebo Sim course.
Check these links on GitHub: (Note: I just copy-pasted the links here, I have no idea what is inside those repos at the moment).
- UniversalRobots repositories · GitHub
- GitHub - UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation
- GitHub - UniversalRobots/Universal_Robots_ROS2_GZ_Simulation
Regards,
Girish
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