Universal robot with robotiq hand workspace

Build

source /opt/ros/kinetic/setup.bash
cd ur_ws/src
wstool update
cd ../
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
catkin build

Run only simulator

roslaunch ur_robotiq_gazebo ur_robotiq_gazebo.launch

Run simul, moveit, rviz and then Grasp

The other terminal

roslaunch ur_robotiq_gazebo ur_robotiq_moveit_gazebo.launch
rosrun ur_robotiq_manipulation grasp_object.py

Camera Images

RGB image

Depth image

Multiple Arms