ROS Interface for Universal Robots

Note

The steps described in the below sections describe the process for advanced users who want to leverage the ROS interface to develop more involved applications with Universal Robots. Otherwise, if your prime focus is to control the simulated or actual robot without much consideration to the intricacies of ROS interface, refer to urROSNode object and the example, Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots.

Complete the instructions mentioned in Install ROS Packages and Dependencies for ROS topic before proceeding with the following sections.

1. Launch Gazebo Simulation with UR5 Robot

2. Connect to ROS Master from MATLAB and Read Current State of Robot

3. Control the Robot

4. Move the Robot Using ROS topic

5. Move the Robot Using ROS Action