UR机械臂教程

https://github.com/ThomasTimm/ur_modern_driver

mkdir -p ~/ur_ws/src
cd ~/ur_ws/src
catkin_init_workspace
cd ~/ur_ws/
catkin_make
source ~/ur_ws/devel/setup.bash
echo "source ~/ur_ws/devel/setup.bash" >> ~/.bashrc
echo $ROS_PACKAGE_PATH

sudo apt-get install ros-kinetic-universal-robot
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true