UR5 ROS2 Tutorial: Build a MoveIt2 Package, Obtain Interactive Markers & Run in Gazebo!

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🚀 Want to simulate your own industrial robot application in ROS 2? Start here.

In this step-by-step tutorial, you'll learn how to create MoveIt package with MoveIt setup assistant for UR5 and how to create a launch file to spawn the robot in Gazebo interacting with MoveIt.

Then we will see how to setup properly the interactive marker in MoveIt!

here the link for the GitHub repository of the package that we have created in this tutorial:
https://github.com/LearnRoboticsWROS/...

Remember to install these packages in your system:

sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers
sudo apt install ros-humble-gripper-controllers
sudo apt install gazebo
sudo apt install ros-humble-gazebo-ros2-control
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install ros-humble-xacro
sudo apt install ros-humble-rmw-cyclonedds-cpp
sudo apt install ros-humble-sensor-msgs


This tutorial is perfect if you're a student, engineer, or robotics enthusiast looking to bridge the gap between existing open-source code and your own robotic simulation needs.

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📦 Repos, commands, and links below 👇
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Topics:
00:00 Introduction
01:26 MoveIt setup assistant
07:29 How to modify the MoveIt package
12:50 Create the launch file to spawn the robot in Gazebo with MoveIt
16:05 Test
19:37 How to setup interactive marker in MoveIt motion planning plugin
21:25 Final test and play!

Check out the ROS2 basic tutorial GitHub repository
https://github.com/LearnRoboticsWROS/...

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