Gazebo using ROS2 - UR

Hi everyone,

My company has an UR10e and we want to integrate it to ROS2 foxy (with plans to move on to ROS2 Humble).

We are using gazebo 11 with ROS2 foxy to simulate an autonomous vehicle and we need to integrate the UR10e into the system and the simulation.

I have some questions:

  1. To have a robot description of the system, is it necessary to do it with the moveit assistant tool configuring the vehicle joints as fixed joints? or is it possible to combine the URDF files of both of them?

  2. GitHub - UniversalRobots/Universal_Robots_ROS2_Description: URDF description for Universal Robots provides a URDF with reference to gazebo, but we can’t make it work with ROS2 foxy. Is there a way to make it work?