Installing ROS-Industrial packages of Universal robotic arms
Universal Robots (http://www.universal-robots.com/) is an industrial robot manufacturer based in Denmark. The company mainly produces three arms: UR3, UR5, and UR10. The robots are shown in the following figure:
![](https://static.packt-cdn.com/products/9781788478953/graphics/60c43534-33f0-4a4e-975e-b2a479ccf6e8.png)
Figure 7: UR-3, UR-5, and UR-10 robots
The specifications of these robots are given in the following table:
Robot | UR-3 | UR-5 | UR-10 |
Working radius | 500 mm | 850 mm | 1,300 mm |
Payload | 3 kg | 5 kg | 10 kg |
Weight | 11 kg | 18.4 kg | 28.9 kg |
Footprint | 118 mm | 149 mm | 190 mm |
In the next section, we will install the Universal Robots packages and work with the MovetIt! interface to simulate industrial robots in Gazebo.
Installing the ROS interface of Universal Robots
We can install the Universal Robots packages by using the Ubuntu/Debian package manager:
$ sudo apt-get install ros-kinetic-universal-robot
Or, we can directly download these packages from the following repository:
$ git clone https://github.com/ros-industrial/universal_robot.git
The Universal Robot packages...