Simulating Robotic Arms in Gazebo

In this tutorials, we will simulate robotic arms ur10e in Gazebo simulator.

1. Install Git Open a terminal with CTRL+SHIFT+T, and run

sudo apt install git

  1. Install Gazebo Fortress

First install some necessary tools:

sudo apt-get update
sudo apt-get install lsb-release gnupg

Then install Ignition Fortress:

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install ignition-fortress

  1. Clone the Repo

cd ~/ros2_ws
git clone -b 0.1.0 https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation.git src/ur_simulation_gz

  1. Install Dependencies

sudo apt-get install ros-humble-ign-ros2-control ros-humble-ros-gz ros-humble-moveit ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-ur-description ros-humble-ur-moveit-config

  1. Build Workspace

cd ~/ros2_ws
colcon build --symlink-install

  1. Try It Out

Use CTRL + ALT + T to open a terminal, and type

ros2 launch ur_simulation_gz ur_sim_control.launch.py ur_type:=ur10e

Close the default dialog and you will see a simulated robotic arm in Gazebo and RVIZ.

_images/ur1.png