====== Using the UR-5 robots for the KIBA class ======

Instructions for Ubuntu 16.04 (Xenial) and ROS Kinetic:

Please make sure you have the following packages in your ros workspace:

  cd $my_workspace/src/
  git clone https://github.com/nicolacastaman/ur_modern_driver.git
  git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git
  
For the Sensor:
  cd $my_workspace/src/
  git clone https://github.com/code-iai/pico_flexx_driver.git
  

Now compile everything:

  roscd
  catkin build

Load the Model of the UR5 to the parameter server:
  roslaunch ur_description ur5_upload.launch
  

Start the UR-5 driver:
  roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.102.100

Change the IP to your specific robot

Since the frame of the pico_flexx driver is not in the URDF, run the following TF static publisher:
  rosrun tf static_transform_publisher 0 0 0 0 0 0  tool0 pico_flexx_optical_frame 100

Now you can run rviz, and add the following plugins: Grid, RobotModel, TF, DepthCloud, and configure them to the appropriate topics.