Using the UR-5 robots for the KIBA class

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

cd $my_workspace/src/
git clone -b kinetic https://github.com/smart-robotics/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/juliangaal/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.