UR_Controller

In order to run this controller you need to clone the Universal Robot Ros Driver repository. Follow the instructions here: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/tree/master Once you have copied Ros Driver into your workspace, run the following commands: 1-. roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:= 2-. roslaunch ur_robot_driver example_rviz.launch Then you can run the python script UR_CONTROLLER_MAIN.py At the moment, this program can only execute routines in joint angles notation https://www.youtube.com/watch?v=RMGk-eiFQpA https://www.youtube.com/watch?v=ucXbzNTplUM https://www.youtube.com/watch?v=11YIMSfJyww