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No version for distro humble showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro jazzy showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro kilted showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro rolling showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro ardent showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro bouncy showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro crystal showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro eloquent showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro dashing showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro galactic showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro foxy showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro iron showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro lunar showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

No version for distro jade showing indigo. Known supported distros are highlighted in the buttons above.
Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur3_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.1.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-01-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Felix Messmer
  • G.A. vd. Hoorn

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.1.11 (2018-01-06)

1.1.10 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

Package symbol

ur_gazebo package from universal_robots repo

universal_robot ur10_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_gazebo ur_kinematics ur_msgs

ROS Distro
hydro

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-03-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • Alexander Bubeck

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

Package symbol

ur_gazebo package from universal_robots repo

universal_robot universal_robots ur10_e_moveit_config ur10_moveit_config ur3_e_moveit_config ur3_moveit_config ur5_e_moveit_config ur5_moveit_config ur_bringup ur_description ur_driver ur_e_description ur_e_gazebo ur_gazebo ur_kinematics ur_msgs

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.2.7
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-11-23
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • G.A. vd. Hoorn
  • Miguel Prada Sarasola
  • Nadia Hammoudeh Garcia

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.2.7 (2019-11-23)

1.2.6 (2019-11-19)

  • Migrated all package.xml files to format=2 (#439)
  • Load the JointGroupPositionController so jog commands can be sent (#422)
  • Contributors: AndyZe, Felix Mauch, Qiang Qiu

1.2.5 (2019-04-05)

  • Update maintainer listing: add Miguel (#410)
  • UR-E Series (#380)
  • Update maintainer and author information.
  • Add roslaunch tests (#362)
  • Using the 'doc' attribute on 'arg' elements.
  • Contributors: Dave Niewinski, gavanderhoorn, Harsh Deshpande, Nadia Hammoudeh García

1.2.1 (2018-01-06)

1.2.0 (2017-08-04)

1.1.9 (2017-01-02)

  • No changes.

1.1.8 (2016-12-30)

  • ur_gazebo: escape underscore in changelog (#279).
  • all: update maintainers.
  • Contributors: gavanderhoorn

1.1.7 (2016-12-29)

  • ur_gazebo: add controller_manager as run dependency.
  • Contributors: Hans-Joachim Krauch

1.1.6 (2016-04-01)

  • provide launch files for ur3
  • use controller_manager spawn
  • allow to start gazebo without gui
  • adjust controllers to new hardwareInterface - affects simulation only
  • Contributors: ipa-fxm

1.0.2 (2014-03-31)

1.0.1 (2014-03-31)

  • adapt launch files in order to be able to use normal/limited xacro
  • updates for latest gazebo under hydro
  • Contributors: ipa-fxm
  • Added definitions for adding tergets in install folder. Issue #10.
  • Added definitions for adding tergets in install folder. Issue #10.
  • Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages.
  • removed arm_ prefix from joint names in gazebo controller config
  • Renamed packages and new groovy version
  • Added ur10 and renamed packages
  • Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/controller_utils.launch
  • launch/ur10.launch
      • limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
      • paused [default: false] — Starts gazebo in paused mode
      • gui [default: true] — Starts gazebo gui
      • world_name [default: worlds/empty.world]
  • launch/ur10_joint_limited.launch
      • gui [default: true] — Starts gazebo gui
  • launch/ur3.launch
      • limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
      • paused [default: false] — Starts gazebo in paused mode
      • gui [default: true] — Starts gazebo gui
      • world_name [default: worlds/empty.world]
  • launch/ur3_joint_limited.launch
      • gui [default: true] — Starts gazebo gui
  • launch/ur5.launch
      • limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
      • paused [default: false] — Starts gazebo in paused mode
      • gui [default: true] — Starts gazebo gui
      • world_name [default: worlds/empty.world]
  • launch/ur5_joint_limited.launch
      • gui [default: true] — Starts gazebo gui
  • tests/roslaunch_test.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

Package symbol

ur_gazebo package from universal_robots repo

universal_robots ur10_moveit_config ur10e_moveit_config ur16e_moveit_config ur3_moveit_config ur3e_moveit_config ur5_moveit_config ur5e_moveit_config ur_description ur_gazebo ur_kinematics

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.3.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version melodic-devel
Last Updated 2024-03-20
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • G.A. vd. Hoorn
  • Miguel Prada Sarasola
  • Nadia Hammoudeh Garcia

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.3.1 (2022-11-11)

1.3.0 (2022-11-10)

  • Merge melodic-devel-staging #617 from ros-industrial/melodic-devel-staging

  • Merge pull request #619 from fmauch/gazebo_effort_controllers Gazebo effort controllers

  • [ur_gazebo] update effort_controllers' pid parameters

  • [ur_gazebo] Switch to effort controllers

  • [ur_gazebo] Switch common files to effort controllers

  • Add tool0_controller frame for gazebo simulation (#611) In order to make the simulation more consistent to the ur_robot_driver (and ur_modern_driver) this adds a tool0_controller frame. For the driver this corresponds to the tool transformation published by the robot controller directly. As this doesn't exist for the simulated robot, this adds the frame using an identity transform from tool0.

  • Make ur_gazebo robot name consistent with ur_description (#615)

  • Increase minimum CMake version to allow builds on Focal Fossa (Noetic) (#586)

  • Merge pull request #562 from fmauch/convenience_macros Add convenience macros for description files

  • ur_gazebo: Update path ur ur_macro.xacro This was changed in e4eb54718edc6ff414d3c046f2589b798b15f9b2

  • Merge pull request #518 from gavanderhoorn/gazebo_updates Main improvements:

    • follow ROS-I naming and package layout conventions
    • clean up xacros (naming, whitespace, etc)
    • treat (the virtual robot in) Gazebo as much as possible as just another UR variant (so we get to reuse workflow, settings and [.launch]{.title-ref} files as much as possible)
    • improve comments in [.xacro]{.title-ref} files
    • clean up "public API" of [ur_gazebo]{.title-ref} (ie: [.launch]{.title-ref} and [_macro.xacro]{.title-ref} files )

  • gazebo: values less than 0.1 for spawn_z will be problematic. So explain this in the arg's documentation.

  • gazebo: in-order is the default on Melodic. And we've broken Kinetic-compatibility quite a few commits ago.

  • gazebo: list valid values for 'transmission_hw_interface'. For some reason this was not yet documented.

  • gazebo: clarify we load a position joint trajectory controller. So include that in the name.

  • gazebo: move include to scope of ur_robot_gazebo macro. Prevent potential clashes with symbols outside of that scope.

  • gazebo: update comments in xacros.

  • gazebo: run e-Series controllers at 500 Hz. Same rate as the real controller.

  • gazebo: give e-Series variants their own controller configs.

  • gazebo: restructure bringup entry points. By lifting some of the nodes and parameters to the bringup files (from ur_common.launch.xml), they should be easier to use (and maintain). Anything specific to the use of a robot in a particular configuration (ie: a workcell or simulation) should exist at the bringup level, not in a common (ie: shared) file, as that will make it harder to change (as changes will be shared by many other setups). This restructuring makes ur_common.launch.xml redundant, so we also remove it.

  • gazebo: ur_control: allow more control over launch args. Over:

    • which world to load
    • whether to start Gazebo or not
    • from which parameter to (attempt to) load the urdf
    • what name to give to the spawned robot model (inside the simulation)

  • gazebo: rostopic is no longer used.

  • gazebo: update tests to load non-entry-point loaders.

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/ur10_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur10.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur10/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur10/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur10/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur10/visual_parameters.yaml]
      • controller_config_file [default: $(find ur_gazebo)/config/ur10_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 125] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur10e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur10e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
      • controller_config_file [default: $(find ur_gazebo)/config/ur10e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur16e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur16e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur16e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur16e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur16e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur16e/visual_parameters.yaml]
      • controller_config_file [default: $(find ur_gazebo)/config/ur16e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur3_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur3.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur3/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur3/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur3/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur3/visual_parameters.yaml]
      • controller_config_file [default: $(find ur_gazebo)/config/ur3_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 125] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur3e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur3e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur3e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur3e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur3e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur3e/visual_parameters.yaml]
      • controller_config_file [default: $(find ur_gazebo)/config/ur3e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur5_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur5.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur5/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5/visual_parameters.yaml]
      • controller_config_file [default: $(find ur_gazebo)/config/ur5_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 125] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur5e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur5e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
      • controller_config_file [default: $(find ur_gazebo)/config/ur5e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/inc/load_ur.launch.xml
      • robot_model — Type/series of used UR robot (ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e)
      • joint_limit_params — YAML file containing the joint limit values
      • kinematics_params — YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration.
      • physical_params — YAML file containing the phycical parameters of the robots
      • visual_params — YAML file containing the visual model of the robots
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur10.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur10/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur10/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur10/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur10/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur10e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur16e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur16e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur16e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur16e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur16e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur3.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur3/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur3/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur3/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur3/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur3e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur3e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur3e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur3e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur3e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur5.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur5/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur5e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/ur_control.launch.xml
      • controller_config_file — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller]
      • stopped_controllers [default: joint_group_eff_controller]
      • gazebo_model_name [default: robot] — The name to give to the model in Gazebo (after spawning it).
      • gazebo_world [default: worlds/empty.world] — The '.world' file to load in Gazebo.
      • gui [default: true] — If true, Gazebo UI is started. If false, only start Gazebo server.
      • paused [default: false] — If true, start Gazebo in paused mode. If false, start simulation as soon as Gazebo has loaded.
      • robot_description_param_name [default: robot_description] — Name of the parameter which contains the robot description (ie: URDF) which should be spawned into Gazebo.
      • spawn_z [default: 0.1] — At which height the model should be spawned. NOTE: lower values will cause the robot to collide with the ground plane.
      • start_gazebo [default: true] — If true, Gazebo will be started. If false, Gazebo will be assumed to have been started elsewhere.
  • tests/roslaunch_test_ur10.xml
  • tests/roslaunch_test_ur10e.xml
  • tests/roslaunch_test_ur16e.xml
  • tests/roslaunch_test_ur3.xml
  • tests/roslaunch_test_ur3e.xml
  • tests/roslaunch_test_ur5.xml
  • tests/roslaunch_test_ur5e.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ur_gazebo at Robotics Stack Exchange

Package symbol

ur_gazebo package from universal_robots repo

universal_robots ur10_moveit_config ur10e_moveit_config ur12e_moveit_config ur15_moveit_config ur16e_moveit_config ur20_moveit_config ur30_moveit_config ur3_moveit_config ur3e_moveit_config ur5_moveit_config ur5e_moveit_config ur7e_moveit_config ur_description ur_gazebo ur_kinematics

ROS Distro
noetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/universal_robot.git
VCS Type git
VCS Version noetic-devel
Last Updated 2025-05-13
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo wrapper for the Universal UR5/10 robot arms.

Additional Links

Maintainers

  • G.A. vd. Hoorn
  • Miguel Prada Sarasola
  • Nadia Hammoudeh Garcia

Authors

  • Alexander Bubeck
  • Shaun Edwards
  • Felix Messmer
README
No README found. See repository README.
CHANGELOG

Changelog for package ur_gazebo

1.5.0 (2025-05-13)

  • Add support for UR15 (#702)
  • Add License files to packages (#695)
  • Contributors: Felix Exner

1.4.0 (2025-03-31)

  • Add support for ur7e and ur12e (#692)
  • [ur_gazebo] Add possibility to specify transmission_interface and position-controllers (#685)
  • Set initial joint at launch gazebo (#681)
  • Contributors: Felix Exner, Niccolo

1.3.3 (2024-04-08)

  • UR30 description and meshes (#674)
  • Contributors: Vincenzo Di Pentima

1.3.2 (2023-12-18)

  • UR20 description and meshes (#657)
  • Contributors: Rune Søe-Knudsen

1.3.1 (2022-11-11)

1.3.0 (2022-11-10)

  • Merge melodic-devel-staging #617 from ros-industrial/melodic-devel-staging

  • Merge pull request #619 from fmauch/gazebo_effort_controllers Gazebo effort controllers

  • [ur_gazebo] update effort_controllers' pid parameters

  • [ur_gazebo] Switch to effort controllers

  • [ur_gazebo] Switch common files to effort controllers

  • Add tool0_controller frame for gazebo simulation (#611) In order to make the simulation more consistent to the ur_robot_driver (and ur_modern_driver) this adds a tool0_controller frame. For the driver this corresponds to the tool transformation published by the robot controller directly. As this doesn't exist for the simulated robot, this adds the frame using an identity transform from tool0.

  • Make ur_gazebo robot name consistent with ur_description (#615)

  • Increase minimum CMake version to allow builds on Focal Fossa (Noetic) (#586)

  • Merge pull request #562 from fmauch/convenience_macros Add convenience macros for description files

  • ur_gazebo: Update path ur ur_macro.xacro This was changed in e4eb54718edc6ff414d3c046f2589b798b15f9b2

  • Merge pull request #518 from gavanderhoorn/gazebo_updates Main improvements:

    • follow ROS-I naming and package layout conventions
    • clean up xacros (naming, whitespace, etc)
    • treat (the virtual robot in) Gazebo as much as possible as just another UR variant (so we get to reuse workflow, settings and [.launch]{.title-ref} files as much as possible)
    • improve comments in [.xacro]{.title-ref} files
    • clean up "public API" of [ur_gazebo]{.title-ref} (ie: [.launch]{.title-ref} and [_macro.xacro]{.title-ref} files )

  • gazebo: values less than 0.1 for spawn_z will be problematic. So explain this in the arg's documentation.

  • gazebo: in-order is the default on Melodic. And we've broken Kinetic-compatibility quite a few commits ago.

  • gazebo: list valid values for 'transmission_hw_interface'. For some reason this was not yet documented.

  • gazebo: clarify we load a position joint trajectory controller. So include that in the name.

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/ur10_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur10.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur10/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur10/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur10/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur10/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur10_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 125] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur10e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur10e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur10e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur12e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur12e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur12e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur12e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur12e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur12e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur12e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur15_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur15.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur15/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur15/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur15/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur15/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur15_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur16e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur16e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur16e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur16e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur16e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur16e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur16e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur20_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur20.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur20/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur20/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur20/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur20/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur20_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur30_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur30.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur30/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur30/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur30/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur30/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur30_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur3_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur3.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur3/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur3/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur3/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur3/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur3_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 125] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur3e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur3e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur3e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur3e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur3e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur3e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur3e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur5_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur5.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur5/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur5_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 125] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur5e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur5e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur5e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/ur7e_bringup.launch
      • robot_description_file [default: $(dirname)/inc/load_ur7e.launch.xml] — Launch file which populates the 'robot_description' parameter.
      • joint_limit_params [default: $(find ur_description)/config/ur7e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur7e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur7e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur7e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])
      • controller_config_file [default: $(find ur_gazebo)/config/ur7e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller] — Controllers that are activated by default.
      • stopped_controllers [default: joint_group_eff_controller] — Controllers that are initally loaded, but not started.
      • tf_prefix [default: ] — tf_prefix used for the robot.
      • tf_pub_rate [default: 500] — Rate at which robot_state_publisher should publish transforms.
      • paused [default: false] — Starts Gazebo in paused mode
      • gui [default: true] — Starts Gazebo gui
  • launch/inc/load_ur.launch.xml
      • robot_model — Type/series of used UR robot (ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur15, ur20, ur30)
      • joint_limit_params — YAML file containing the joint limit values
      • kinematics_params — YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration.
      • physical_params — YAML file containing the phycical parameters of the robots
      • visual_params — YAML file containing the visual model of the robots
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur10.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur10/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur10/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur10/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur10/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur10e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur10e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur10e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur10e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur10e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur12e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur12e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur12e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur12e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur12e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur15.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur15/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur15/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur15/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur15/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur16e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur16e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur16e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur16e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur16e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur20.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur20/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur20/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur20/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur20/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur3.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur3/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur3/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur3/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur3/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur30.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur30/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur30/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur30/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur30/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur3e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur3e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur3e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur3e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur3e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur5.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur5/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur5e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/load_ur7e.launch.xml
      • joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface] — The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])
      • safety_limits [default: false] — If True, enable the safety limits controller
      • safety_pos_margin [default: 0.15] — The lower/upper limits in the safety controller
      • safety_k_position [default: 20] — Used to set k position in the safety controller
  • launch/inc/ur_control.launch.xml
      • controller_config_file — Config file used for defining the ROS-Control controllers.
      • controllers [default: joint_state_controller eff_joint_traj_controller]
      • stopped_controllers [default: joint_group_eff_controller]
      • gazebo_model_name [default: robot] — The name to give to the model in Gazebo (after spawning it).
      • gazebo_world [default: worlds/empty.world] — The '.world' file to load in Gazebo.
      • gui [default: true] — If true, Gazebo UI is started. If false, only start Gazebo server.
      • paused [default: false] — If true, start Gazebo in paused mode. If false, start simulation as soon as Gazebo has loaded.
      • robot_description_param_name [default: robot_description] — Name of the parameter which contains the robot description (ie: URDF) which should be spawned into Gazebo.
      • spawn_z [default: 0.1] — At which height the model should be spawned. NOTE: lower values will cause the robot to collide with the ground plane.
      • start_gazebo [default: true] — If true, Gazebo will be started. If false, Gazebo will be assumed to have been started elsewhere.
      • initial_joint_positions [default: -J shoulder_pan_joint 0.0 -J shoulder_lift_joint -1.57 -J elbow_joint 0.0 -J wrist_1_joint -1.57 -J wrist_2_joint 0.0 -J wrist_3_joint 0.0] — Initial joint configuration of the robot
  • tests/roslaunch_test_ur10.xml
  • tests/roslaunch_test_ur10e.xml
  • tests/roslaunch_test_ur12e.xml
  • tests/roslaunch_test_ur15.xml
  • tests/roslaunch_test_ur16e.xml
  • tests/roslaunch_test_ur20.xml
  • tests/roslaunch_test_ur3.xml
  • tests/roslaunch_test_ur30.xml
  • tests/roslaunch_test_ur3e.xml
  • tests/roslaunch_test_ur5.xml
  • tests/roslaunch_test_ur5e.xml
  • tests/roslaunch_test_ur7e.xml

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