Open Source 6 dof robot arm -- Universal Robot 手把手运行 ROS2 Humble_not found, searching: ['/opt/ros/humble']

运行要求：

1、Ubuntu 22.02
2、ROS Humble
（3、Gazebo Garden）

运行

1. 下载Universal_Robots_ROS2_Description开源包
   地址：https://github.com/UniversalRobots/Universal_Robots_ROS2_Description

git clone git@github.com:UniversalRobots/Universal_Robots_ROS2_Description.git
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2. Build repository

cd Universal_Robots_ROS2_Description/
colcon build
source install/setup.bash
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3. 运行 Launch

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
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可能报错：

[INFO] [launch]: All log files can be found below
/home/zhzhubuntu/.ros/log/2023-03-08-10-50-35-054283-zhzhubuntu-Standard-PC-Q35-ICH9-2009-52385
[INFO] [launch]: Default logging verbosity is set to INFO [ERROR]
[launch]: Caught exception in launch (see debug for traceback):
“package ‘joint_state_publisher_gui’ not found, searching:
[‘/home/xxxxx/Universal_Robots_ROS2_Description/install/ur_description’,
‘/opt/ros/humble’]”

有个包没装。

装包：
sudo update
sudo apt install ros-< your ros version>-joint-state-publisher-gui
这里直接装包了

sudo apt install ros-humble-joint-state-publisher-gui
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再次运行

source install/setup.bash
ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
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可以控制6个自由度的机械臂

其他关于Universal Robot消息可以“百度”。