UR5e Robotiq Gripper Visualization in RViz

This ROS 2 package provides a visualization setup for the UR5e robotic arm with a Robotiq gripper using RViz. It includes all necessary configuration files, launch files, and description files to get you started with visualizing the robot in a simulated environment.

Features

• UR5e robotic arm and Robotiq gripper integration
• Ready-to-use RViz configuration
• Customizable Xacro files for robot descriptions

Prerequisites

Before you begin, ensure you have the following installed:

• ROS 2
• RViz2

Installation

To install the UR5e Robotiq Gripper Visualization package, follow these steps:

# Source your ROS 2 workspace
source /opt/ros/<ros2_distro>/setup.bash

# Clone the repository into your ROS 2 workspace
cd ~/your_ros2_ws/src
git clone https://github.com/Sohaib-Snouber/UR5e_robotiq_gripper_RViz.git

# Build the package
cd ~/your_ros2_ws
colcon build --packages-select ur5e_robotiq_gripper_visualization

# Source the workspace
source ~/your_ros2_ws/install/setup.bash

Usage

To run the visualization, use the provided launch file:

ros2 launch ur5e_robotiq_gripper_visualization view_ur5e_gripper.launch.py

License

Distributed under the MIT License. See LICENSE for more information.

Acknowledgments

• Thanks to Universal Robots for providing detailed models and documentation of their robotic systems.
• Thanks to Robotiq for the open-source gripper models and control software which have been integral to this visualization project.
• Special thanks to all the contributors of the ROS community whose shared insights and code snippets have been invaluable.