Installing the ROS interface for Universal Robots

We get the Universal Robots ROS-I packages by downloading them from the following repository:

git clone https://github.com/ros-industrial/universal_robot.git  

The Universal Robots packages are as follows:

• ur_description: This package consists of the robot description and Gazebo description of UR-3, UR-5, and UR-1.
• ur_driver: This package contains client nodes, which can communicate with the UR-3, UR-5, and UR-10 robot hardware controllers.
• ur_bringup: This package consists of launch files to start communication with the robot hardware controllers to start working with the real robot.
• ur_gazebo: This package consists of Gazebo simulations of UR-3, UR-5, and UR-10.
• ur_msgs: This package contains ROS messages used for communication between various UR nodes.
• urXX_moveit_config: These are the moveit config files of Universal Robots manipulators. One different package exists for each type of arm...