🦾 UR10e + RG6 ROS 2 MoveIt Environment (Humble)
This repository contains a complete ROS 2 Humble workspace for the Universal Robots UR10e with an OnRobot RG6 gripper, including:
✅ MoveIt 2 and IKFast integration
✅ Automatic Jupyter Lab startup for Python experiments
✅ VS Code Dev Container support
✅ Gazebo & RViz ready simulation
🚀 Quick Start — Docker Build & Run
🐳 All setup is handled automatically — just run the commands below.
1️⃣ Clone this repository
git clone https://github.com/libishm1/Ur_rg6.git cd Ur_rg6
2️⃣ Build the Docker image
docker build -t ur10e_rg6 .
(Optional) If you’re on a system with NVIDIA GPU support, you can use the --gpus all flag.
3️⃣ Run the container
docker run -it --net=host -e DISPLAY=$DISPLAY -p 8888:8888 ur10e_rg6
When the container starts, it will:
✅ Download and unpack the workspace ZIP from this repo
✅ Build the ROS 2 packages automatically (using colcon build)
✅ Launch Jupyter Lab on port 8888
🧠 Access Jupyter Lab
Once the container prints the token URL, open it in your browser:
You can create notebooks and directly import ROS 2 packages:
import rclpy from geometry_msgs.msg import Pose
🦾 Run MoveIt and RViz inside the container
From a new terminal in the container:
ros2 launch ur10e_rg6_bringup moveit_planning.launch.py use_sim:=true
You’ll see the full UR10e + RG6 model in RViz with planning controls.
🧩 Optional: Using docker-compose
A docker-compose.yml is also included.
Build and start in one step:
docker compose up --build
🧰 Development in VS Code
Open the folder in VS Code → Command Palette → “Reopen in Container”
This attaches directly to the pre-configured Dev Container with:
ros2, colcon, rviz2, moveit2, and gazebo installed
Python, Jupyter, and ROS 2 extensions preloaded
🧾 Notes
Default ROS 2 distro: Humble Hawksbill
Port 8888 is forwarded to Jupyter Lab
Use DISPLAY for RViz / Gazebo GUI display
Tested on Ubuntu 22.04 + Docker 24.x