Hey!
I have the Universal Robots ROS2 Driver installed, and I have the Universal Robots ROS2 Description and Universal Robots ROS2 GZ Simulation github repos cloned over to my ~/colcon_ws/src folder. Is the next step for moving my simulated UR5e in Gazebo Sim to create a new package for a Moveit2 script in c++, make the script, make a launch file for launching the script, and editing the CMake file? Are there any other steps I’m missing first? Could someone provide me with a simple c++ moveit2 script and the corresponding launch file and CMake alterations that are compatible with the Driver and Description? I’ve been trying to make a script and launch file for a while now to no avail and with a wide array of errors.
Thank you!