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Launch Gazebo Simulation with UR5 Robot

  1. Open a Linux® terminal from a catkin workspace where you have downloaded ROS packages from Universal Robots.

  2. Execute the following command to set ROS IP and ROS MASTER URI environment variables.

    >>export ROS_IP=<ip_address> 
    >>export ROS_MASTER_URI=http://$ROS_IP:11311

    Replace <ip_address> with the IP address of the Linux machine with ROS. Ensure that the IP is reachable from the host where MATLAB® is installed.

  3. Execute the following commands to launch Gazebo simulation with UR5 robot.

    >>source devel/setup.bash 
    >>roslaunch ur_gazebo ur5_bringup.launch 

    >>source devel/setup.bash

    >>roslaunch ur_gazebo ur5_bringup.launch

The Gazebo simulator launches with the UR5 robot at home position.