一、从官网上下载UR5e机械臂
mkdir -p catkin_ws
cd catkin_ws
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
git clone https://github.com/ros-industrial/ur_msgs.git src/ur_msgs
rosdep install --from-paths src --ignore-src -y
catkin_make二、给机械臂添加夹爪
git clone https://github.com/DH-Robotics/dh_gripper_ros.git src/dh_gripper_ros1、夹爪下载完之后再进行编译，这时候会报错，因为\下载的夹爪文件中程序是根据gazebo 7 版本设计的，如果gazebo版本不一样，删掉simulation的就可以了。
2、里面包含了其他型号夹爪的文件，可以直接删了这部分文件。
3、在下载好的夹爪文件中，打开dh_robotics_ag95_gripper/dh_robotics_ag95_description/urdf/dh_robotics_ag95_gripper.xacro，然后将下面几段代码注释掉并保存。
<?xml version="1.0" ?><robot name="dh_robotics_ag95_gripper" xmlns:xacro="http://ros.org/wiki/xacro"><xacro:include filename="$(find dh_robotics_ag95_description)/urdf/dh_robotics_ag95_gripper.urdf.xacro" /><!-- <gazebo><plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotNamespace>/</robotNamespace><legacyModeNS>true</legacyModeNS></plugin> </gazebo><link name="world"/><joint name="world_fixed" type="fixed"><origin xyz="0 0 0" rpy="0 0 0"/><parent link="world"/><child link="gripper_root_link"/></joint><link name="gripper_root_link"><visual><origin xyz="0 0 0.5" rpy="0 0 0"/><geometry><box size="0.1 0.1 1.0"/></geometry></visual><collision><origin xyz="0 0 0.5" rpy="0 0 0"/><geometry><box size="0.1 0.1 1.0"/></geometry></collision><inertial><mass value="1e2" /><origin xyz="0.0 0.0 0.0" /><inertia ixx = "0.000001" ixy = "0.000000" ixz = "0.000000"iyx = "0.000000" iyy = "0.000001" iyz = "0.000000"izx = "0.000000" izy = "0.000000" izz = "0.000001" /></inertial></link><xacro:dh_robotics_ag95_gripper prefix="" parent="gripper_root_link" ><origin xyz="0.05 0 0.85" rpy="${pi/2} 0 ${pi/2}"/></xacro:dh_robotics_ag95_gripper> --></robot>
然后打开机械臂文件：打开fmauch_universal_robot/ur_description/urdf，修改ur5.xacro文件，如下所示：
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur5e_robot"><!--This is a convenience top-level xacro which loads the macro for the UR5ewhich defines the default values for the various "parameters files"parameters for a UR5e.This file is only useful when loading a stand-alone, completely isolatedrobot with only default values for all parameters such as the kinematics,visual and physical parameters and joint limits.This file is not intended to be integrated into a larger scene or othercomposite xacro.Instead, xacro:include 'inc/ur5e_macro.xacro' and override the defaultsfor the arguments to that macro.Refer to 'inc/ur_macro.xacro' for more information.--><xacro:include filename="$(find ur_description)/urdf/inc/ur5e_macro.xacro"/><xacro:ur5e_robot prefix="" /><xacro:include filename="$(find dh_robotics_ag95_description)/urdf/dh_robotics_ag95_gripper.xacro" /><!--dh_ag95_gripper--><xacro:dh_robotics_ag95_gripper prefix="" parent="tool0" ><origin xyz="0 0 0" rpy="0 0 0"/></xacro:dh_robotics_ag95_gripper>
</robot>
打开fmauch_universal_robot/ur_description/launch,修改load_ur5.launch文件，代码如下所示：
<?xml version="1.0"?>
<launch><!--ur5e parameters files --><arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/><arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/><arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/><arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/><!--common parameters --><arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" /><arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/><arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" /><arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" /><param name="robot_description" command="$(find xacro)/xacro $(find ur_description)/urdf/ur5e.xacro transmission_hw_interface:=$(arg transmission_hw_interface)" /><!-- use common launch file and pass all arguments to it --><!-- <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/> -->
</launch>
接着修改ur_gazebo/ur5_bringup.launch文件，代码如下所示：
<?xml version="1.0"?>
<launch><!--Main entry point for loading a single UR5e into Gazebo, in isolation, in theempty world.A set of ros_control controllers similar to those loaded by ur_robot_driverwill be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).This bringup .launch file is intentionally given the same name as the one inthe ur_robot_driver package, as it fulfills a similar role: loading theconfiguration and starting the necessary ROS nodes which in the end providea ROS API to a Universal Robots UR5e. Only in this case, instead of a realrobot, a virtual model in Gazebo is used.NOTE 1: as this is not a real robot, there are limits to the faithfulnessof the simulation. Dynamic behaviour will be different from a real robot.Only a subset of topics, actions and services is supported. Specifically,interaction with the Control Box itself is not supported, as Gazebo does notsimulate a Control Box. This means: no Dashboard server, no URScript topicand no force-torque sensor among other things.NOTE 2: users wishing to integrate a UR5e with other models into a morecomplex simulation should NOT modify this file. Instead, if it would bedesirable to reuse this file with a custom simulation, they should create acopy and update this copy so as to accomodate required changes.In those cases, treat this file as an example, showing one way how a Gazebosimulation for UR robots *could* be launched. It is not necessary to mimicthis setup completely.--><include file="$(find ur_description)/launch/load_ur5e.launch"/><rosparam file="$(find dh_robotics_ag95_gazebo)/controller/gripper_controller_dh_robotics.yaml" command="load"/><node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller gripper" respawn="false" output="screen"/><node name="gui_controller" pkg="rqt_joint_trajectory_controller" type="rqt_joint_trajectory_controller" /><!--Robot description and related parameter files --><arg name="robot_description_file" default="$(dirname)/inc/load_ur5e.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/><arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/><arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/><arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/><arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/><!-- Controller configuration --><arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/><arg name="controllers" default="joint_state_controller pos_joint_traj_controller" doc="Controllers that are activated by default."/><arg name="stopped_controllers" default="joint_group_pos_controller" doc="Controllers that are initally loaded, but not started."/><!-- robot_state_publisher configuration --><arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/><arg name="tf_pub_rate" default="500" doc="Rate at which robot_state_publisher should publish transforms."/><!-- Gazebo parameters --><arg name="paused" default="false" doc="Starts Gazebo in paused mode" /><arg name="gui" default="true" doc="Starts Gazebo gui" /><!-- Load urdf on the parameter server --><include file="$(arg robot_description_file)"><arg name="joint_limit_params" value="$(arg joint_limit_params)"/><arg name="kinematics_params" value="$(arg kinematics_params)"/><arg name="physical_params" value="$(arg physical_params)"/><arg name="visual_params" value="$(arg visual_params)"/></include><!-- Robot state publisher --><node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"><param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" /><param name="tf_prefix" value="$(arg tf_prefix)" /></node><!-- Start the 'driver' (ie: Gazebo in this case) --><include file="$(dirname)/inc/ur_control.launch.xml"><arg name="controller_config_file" value="$(arg controller_config_file)"/><arg name="controllers" value="$(arg controllers)"/><arg name="gui" value="$(arg gui)"/><arg name="paused" value="$(arg paused)"/><arg name="stopped_controllers" value="$(arg stopped_controllers)"/></include>
</launch>
最后编译代码
cd catkin_ws
catkin_make
cd src
source devel/setup.bash
roslaunch ur_description view_ur5e.launch
