How wannabe-codingmaster/ur_robotiq_ros2_gazebo_simulation works
This ROS 2 project launches a Gazebo Classic simulation of a Universal Robots arm with a Robotiq 2F-85 gripper. The main workflow is to expand the combined Xacro description, start Gazebo and ROS control, spawn the robot, then inspect or command it. The tree documents model variants, meshes, controller configuration, and separate description/view launches. The combined Xacro and controller internals were not sampled, so their detailed wiring is not expanded here.
Main entry points: gazebo.launch.py Simulation entry · ur_gripper.xacro Arm and gripper · ur.urdf.xacro UR model · robotiq_2f_85_gripper.urdf.xacro 2F-85 model
Components 20
Robot descriptions
- Arm and gripper
ur_gripper_gazebo/urdf/ur_gripper.xacro - UR model
ur_description/urdf/ur.urdf.xacro - UR variants
ur_description/config - 2F-85 model
robotiq_description/urdf/robotiq_2f_85_gripper.urdf.xacro - Robot meshes
ur_description/meshes - Gripper meshes
robotiq_description/meshes
Simulation launch
- Simulation entry
ur_gripper_gazebo/launch/gazebo.launch.py - Entity spawner
ur_gripper_gazebo/launch/gazebo.launch.py
Control configuration
- Simulation controllers
ur_gripper_gazebo/config/controllers.yaml - Controller manager
- Joint-state broadcaster
ur_gripper_gazebo/config/controllers.yaml - Trajectory controller
ur_gripper_gazebo/config/controllers.yaml
Visualization
- Robot state publisher
ur_gripper_gazebo/launch/gazebo.launch.py - RViz view
ur_gripper_gazebo/launch/gazebo.launch.py - Model view launch
ur_gripper_gazebo/launch/rviz.launch.py - UR view launch
ur_description/launch/view_ur.launch.py - Gripper view launch
robotiq_description/launch/view_gripper.launch.py
Other components
- ROS user
- Gazebo Classic
- Trajectory UI
Connections 23
- ROS user → Simulation entry: launches
- Simulation entry → Arm and gripper: expands Xacro
- Arm and gripper → UR model: includes model
- Arm and gripper → 2F-85 model: includes model
- UR model → UR variants: uses parameters
- UR model → Robot meshes: references meshes
- 2F-85 model → Gripper meshes: references meshes
- Simulation entry → Simulation controllers: loads config
- Simulation entry → Gazebo Classic: starts
- Simulation entry → Entity spawner: starts
- Entity spawner → Gazebo Classic: spawns entity
- Entity spawner → Robot state publisher: reads description
- Simulation entry → Controller manager: starts control
- Simulation controllers → Controller manager: configures
- Controller manager → Joint-state broadcaster: spawns
- Controller manager → Trajectory controller: spawns
- Simulation entry → Robot state publisher: starts
- Simulation entry → RViz view: starts optionally
- ROS user → Trajectory UI: commands with
- Trajectory UI → Trajectory controller: sends commands
- ROS user → Model view launch: launches
- ROS user → UR view launch: launches
- ROS user → Gripper view launch: launches