Launch Gazebo Simulation with UR5 Robot
Open a Linux® terminal from a catkin workspace where you have downloaded ROS packages from Universal Robots.
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
<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.
Execute the following commands to launch Gazebo simulation with UR5 robot.
>>source devel/setup.bash >>roslaunch ur_gazebo ur5_bringup.launch
>>roslaunch ur_gazebo ur5_bringup.launch
The Gazebo simulator launches with the UR5 robot at home position.