UR5e Workstation

Packages

• ur5e_sim generates robot description and runs gazebo simulation.
• ur5e_moveit_config generated moveit configurations for the robot.
• movetest a simple test code that gives a target post to the arm to execute.

How to start

• Build the image while standing at the root directory:

scripts/compose.sh build

• Run the container:

scripts/compose.sh start  # By default it runs on cpu, otherwise, use: scripts/compose.sh start gpu

Container will run in daemon mode.

• Access the container:

docker exec -it ur5e_workstation_cpu bash

• Inside the container, source the entrypoint script:

. docker/entrypoint.sh

• Start the demo launch to plan motion:

ros2 launch ur5e_moveit_config demo.launch.py