ROS Index
Repository Summary
| Description | Use ROS2 and Gazebo to simulate 2 UR5 assembling objects. |
| Checkout URI | https://github.com/zitongbai/ur5e_vision_assemble.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-01 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| bringup | 0.0.0 |
| gazebo_grasp_plugin | 1.0.2 |
| gazebo_grasp_plugin_ros | 0.0.1 |
| gazebo_version_helpers | 0.0.0 |
| dual_ur5e_gripper_moveit_config | 0.0.0 |
| robotiq_description | 0.0.0 |
| robotiq_moveit_config | 0.0.0 |
| ur5e_gripper_description | 0.0.0 |
| ur5e_gripper_moveit_config | 0.0.0 |
| ur_moveit_config | 2.4.1 |
| ur5e_gripper_control | 0.0.0 |
| vision | 0.0.0 |
README
UR5_Vision_Assemble
Use ROS2 and Gazebo to simulate 2 UR5 assembling objects.
⚠️ Notice: This repository is no longer actively maintained.
While you are welcome to explore and use the code, please note that updates and issue responses may be infrequent.
Thank you for your interest and understanding.
Environment
- Ubuntu 22.04
- ROS2 humble
Installation
Before installation, you need some dependencies installed.
Gazebo classic
Unlike ROS, Gazebo is not installed when you install ROS2. You need to install it manually.
sudo apt update
sudo apt install gazebo
Moveit2
sudo apt install ros-humble-moveit*
ros2 control
sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers
dependencies of image
sudo apt install ros-humble-image-pipeline
sudo apt install ros-humble-compressed-image-transport
sudo apt install ros-humble-compressed-depth-image-transport
sudo apt install ros-humble-vision-msgs
Clone this repo
Now clone this repo
cd ~
git clone git@github.com:zitongbai/UR5e_Vision_Assemble.git --recurse-submodules
setup environment for yolov5
You can refer to the README.md in the vision package.
You should not only set up the conda environment, but also train the yolov5 and move the weight files for later usage.
Under the original python environment, you should upgrade the numpy version
pip install -U numpy
Build
Build the repo
cd ~/UR5e_Vision_Assemble
colcon build --symlink-install
Usage
Start the simulation environment
cd ~/UR5e_Vision_Assemble
source install/setup.bash
ros2 launch bringup simulation.launch.py
Launch the demo
# in another terminal
cd ~/UR5e_Vision_Assemble
source install/setup.bash
ros2 launch ur5e_gripper_control demo4.launch.py
Some notes
Before usage
make sure you have all the dependences installed
make sure you have local gazebo model in ~/.gazebo/models
记录一下踩过的各种坑
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