ros2_ur_controller

Universal Robot Contorller Launch

https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy robot_controller:=scaled_joint_trajectory_controller use_fake_hardware:=true launch_rviz:=true

Launch subscriber

 ros2 run py_pubsub my_subscriber

Launch publiser

 ros2 run py_pubsub my_publisher

rqt_graph