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ROS2 Humble node examples with UR5 robot arm.

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# ROS2 Examples and Code Templates

ROS2 Humble examples with UR5 robot arm.

*Author: Mehmet Kahraman / Date 04.04.2024*

Main Requirements:
--
- Ubuntu 22.04 Jammy
- ROS 2 Humble Desktop

Installation and ROS Packages:
--

Clone workspace, build and source it
```
mkdir ros2_examples_ws
cd ros2_examples_ws
mkdir src
cd src
git clone https://github.com/mehmet-engineer/ros2_examples
cd ..
colcon build
source install/setup.bash
```

Install those ros2 humble packages using apt
```
sudo apt install ros-humble-gazebo*
sudo apt install ros-humble-rqt*
sudo apt install ros-humble-moveit*
sudo apt install ros-humble-joint-state-publisher*
sudo apt install ros-humble-launch-param-builder
sudo apt install ros-humble-parameter-traits
sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers
sudo apt install ros-humble-controller-interface
sudo apt install ros-humble-joint-trajectory-controller
sudo apt install ros-humble-joint-state-broadcaster
sudo apt install ros-humble-gripper-controllers
sudo apt install ros-humble-xacro
sudo apt install ros-humble-realtime-tools
sudo apt install ros-humble-hardware-interface
sudo apt install ros-humble-control-toolbox
sudo apt install ros-humble-filters
sudo apt install ros-humble-ros2bag
sudo apt install ros-humble-plotjuggler*
```

Running Launches and Nodes:
--

Display robot on RViz
```
ros2 launch ur5_description display_robot.launch.py
```
![img](https://raw.githubusercontent.com/mehmet-engineer/ros2_examples/main/assets/ur5_rviz2.png)

Node example
```
ros2 run my_cpp_package publisher_node
```

Bringup robot on Gazebo
```
ros2 launch ur5_description bringup_gazebo.launch.py rviz_gui:=true
```
![img](https://raw.githubusercontent.com/mehmet-engineer/ros2_examples/main/assets/ur5_gazebo.png)

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