Run Pick & Place

Load Gazebo & RVIZ

roslaunch ur5_gripper_moveit_config demo_gazebo.launch

Run the Pick & Place Node

rosrun ur5_trajectory_gen pick_and_place.py

Run Straight Line Motion & Show Collisions

Load Gazebo & RVIZ

roslaunch ur5_gripper_moveit_config demo_gazebo.launch

Run the Node

rosrun ur5_trajectory_gen line_move.py

Run Straight Line With Fixed Force

Load Gazebo & RVIZ

roslaunch ur5_gripper_moveit_config demo_gazebo.launch

Run the Node

rosrun ur5_trajectory_gen line_move_force.py

Start with a New Object (Fork Type)

roslaunch ur5_gripper_moveit_config demo_gazebo_fork.launch

rosrun ur5_trajectory_gen fork_obj_pos.py