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Add UR5e robot descriptions and MoveIt configurations for multi - end effector setups at CMS#73

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maffettone merged 5 commits intoNSLS2:humblefrom
bondada-a:pr/add_custom_ur_descriptions
Oct 2, 2025
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Add UR5e robot descriptions and MoveIt configurations for multi - end effector setups at CMS#73
maffettone merged 5 commits intoNSLS2:humblefrom
bondada-a:pr/add_custom_ur_descriptions

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@bondada-a bondada-a commented Sep 30, 2025 •
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Summary

  • Add robot descriptions for UR5e arm with various end-effector configurations and camera.
  • Add standardized MoveIt planning configurations for standalone, Hand-E, and ePick setups

New Packages

ur5e_robot_description

Robot description package containing URDF/XACRO files for:

  • Standalone: UR5e + Zivid camera + tool exchanger robotside
  • Hand-E: UR5e + Zivid camera + tool block + Robotiq Hand-E gripper
  • ePick: UR5e + Zivid camera + tool block + Robotiq ePick vacuum gripper
  • See ur5e_robot_description/README.md

ur5e_moveit_configs

Directory containing three MoveIt configuration packages:

  • ur_standalone_moveit_config - For tool exchange operations

  • ur_zivid_hande_moveit_config - For Hand-E gripper operations

  • ur_zivid_epick_moveit_config - For ePick vacuum operations

  • See ur5e_moveit_configs/README.md

    Usage

# Launch specific configurations
ros2 launch ur_standalone_moveit_config robot_bringup.launch.py
ros2 launch ur_zivid_hande_moveit_config robot_bringup.launch.py
ros2 launch ur_zivid_epick_moveit_config robot_bringup.launch.py

@bondada-a bondada-a marked this pull request as ready for review September 30, 2025 18:24
maffettone
maffettone reviewed Oct 2, 2025
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@maffettone maffettone left a comment •
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This is really great stuff. Thank you.

One question on whether the dependencies are correct (listed in readme, but not in package.xml). After that good to merge on lint check.

@bondada-a bondada-a requested a review from maffettone October 2, 2025 17:21
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bondada-a commented Oct 2, 2025

I'll remove the exec depend for the hande and epick , i don't think they are available through rosdep. I'll keep the ur_description

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maffettone commented Oct 2, 2025

That makes sense, these are already included in the deps pulled by vcs in the build, yea?

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bondada-a commented Oct 2, 2025

That makes sense, these are already included in the deps pulled by vcs in the build, yea?

yep, i still have to update the vcs to pull from the upstream for epick but otherwise yes they are pulled through vcs.

I'm also not sure why the super-linter fails , the links provided in the markdown should all work.

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maffettone commented Oct 2, 2025 •
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Potentially some confusing output at the summary flagging 403s. This is the error I believe:
https://github.com/NSLS2/erobs/actions/runs/18200467197/job/51818050091#step:4:362

/github/workspace/src/custom-ur-descriptions/ur5e_moveit_configs/README.md:119:401 MD013/line-length Line length [Expected: 400; Actual: 413]

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bondada-a commented Oct 2, 2025

should be fixed now

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maffettone commented Oct 2, 2025

Will merge and put in followup for the build failure.

@maffettone maffettone merged commit d710634 into NSLS2:humble Oct 2, 2025
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