Gazebo UR installation

[becketps]

Affected ROS2 Driver version(s)

Gazebo with Humble

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

Build both the ROS driver and UR Client Library from source

Which robot platform is the driver connected to.

URSim in docker

Robot SW / URSim version(s)

ursim polycope X 10.9

How is the ROS driver used.

Headless without using the teach pendant

Issue details

Summary

Short introduction to the issue and how it impact you and why

I tried to install gazebo like mentioned here

Issue details

Detailed description help us understand the problem. Code are welcome!

Everything works until you execute:

     colcon build --symlink-install

Everything is sourced on my site.

Steps to Reproduce

Make simple example to reproduce the issue. Try to remove dependencies to other hardware and software components, if it is possible.

Execude all commands on the page.

Expected Behavior

What did you expect and why?

Actual Behavior

What did you observe? If possible please attach relevant information.

Workaround Suggestion

If a workaround has been found, you are welcome to share it.

Relevant log output

    ```shell
    colcon build --symlink-install
    Starting >>> ur_dashboard_msgs
    Starting >>> ur_moveit_config
    --- stderr: ur_moveit_config
    failed to create symbolic link '/home/aut-laptop/ur_ws/build/ur_moveit_config/ament_cmake_python/ur_moveit_config/ur_moveit_config' because existing path cannot be removed: Is a directory
    gmake[2]: *** [CMakeFiles/ament_cmake_python_symlink_ur_moveit_config.dir/build.make:70: CMakeFiles/ament_cmake_python_symlink_ur_moveit_config] Fehler 1
    gmake[1]: *** [CMakeFiles/Makefile2:138: CMakeFiles/ament_cmake_python_symlink_ur_moveit_config.dir/all] Fehler 2
    gmake: *** [Makefile:146: all] Fehler 2
    ---
    Failed   <<< ur_moveit_config [0.06s, exited with code 2]
    Aborted  <<< ur_dashboard_msgs [0.07s]
    
    Summary: 0 packages finished [0.27s]
      1 package failed: ur_moveit_config
      1 package aborted: ur_dashboard_msgs
      2 packages had stderr output: ur_dashboard_msgs ur_moveit_config
      6 packages not processed
    ```

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[urfeex]

Use sudo apt install ros-humble-ur-gazabo instead of building from source. If you want to build from source, please take the instructions from the README: https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation/blob/humble/README.md We need to update the docs regarding that.

Note that the ros2 branch is not compatible with Humble, you will need to use the humble branch.

[becketps]

The Command sudo apt install ros-humble-ur-gazabo gives me the output

  sudo apt install ros-humble-ur-gazabo
  Paketlisten werden gelesen… Fertig
  Abhängigkeitsbaum wird aufgebaut… Fertig
  Statusinformationen werden eingelesen… Fertig
  E: Paket ros-humble-ur-gazabo kann nicht gefunden werden.

Therefore I have to build the model from source and also the description repository which is necessary to test the page

Then it works to start the Simulation like here with

 ros2 launch ur_simulation_gz ur_sim_control.launch.py  ur_type:=ur15  robot_ip:=192.168.56.101 launch_rviz:=true

But why isn't it possible to have the same pose as in the polyscope X simulation which I started with this skript

        ./start_ursim.sh -v 10.9.0 -m ur15

I already enabled external Control in the settings and successfully pressed play. But the pose is defnetly not the same of Gazebo and Polyscope X and also no movement happens in Gazebo when moving the robot in Polyscope X and vice versa. Do you have a hint for me? The normal Ros2 ur_robot_driver ur_control.launch.py did it right.

I also encountered the problem of starting moveit in the description that there is no robot or motion planning possible when executing

   ros2 launch ur_simulation_gz ur_sim_moveit.launch.py ur_type:=ur15 robot_ip:=192.168.56.101 launch_rviz:=true

Are there test possibilities?

[urfeex]

Use sudo apt install ros-humble-ur-gazabo instead of building from source.

Sorry for the bad advice. It's obviously ros-humble-ur-simulation-gz

I already enabled external Control in the settings and successfully pressed play. But the pose is defnetly not the same of Gazebo and Polyscope X and also no movement happens in Gazebo when moving the robot in Polyscope X and vice versa. Do you have a hint for me? The normal Ros2 ur_robot_driver ur_control.launch.py did it right.

The gazebo simulation isn't connected with a PolyScopeX simulator. You can either use URSim or the GZ-based simulator. What exactly were you trying to achieve combining the two?