Environment

• Ubuntu 22.04
• ROS2 Humble

Dependence

Before building the project, make sure you have the following dependences installed.

• moveit2
• ros2_control
• gazebo ros pkgs: sudo apt install ros-humble-gazebo-ros-pkgs
• Universal_Robots_ROS2_Driver, you can download it as guided here. ur_moveit_config should also be installed: sudo apt install ros-humble-ur-moveit-config
• Intel® RealSense™ SDK 2.0 and Intel® RealSense™ ROS2 wrapper

There are some other dependences needed in each subproject. Please refer to the corresponding pages.