1. UR5软件配置

# 安装 MoveIt! 依赖
sudo apt install ros-humble-moveit ros-humble-tf2-ros ros-humble-moveit-setup-assistant ros-humble-gazebo-ros-pkgs
# 安装 UR 官方 ROS2 驱动
sudo apt update
sudo apt install ros-humble-ur-robot-driver ros-humble-ur-description ros-humble-ur-moveit-config

2. 仿真启动

# 启动UR5
ros2 launch ur_robot_driver ur5e.launch.py robot_ip:=192.168.10.233 simulated:=True

3. 不同模型

# 使用 Motion Planning 插件拖动末端进行运动规划
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5

4. 拖动示意