Compile from source

Setting up ROS workspace

This will assume that you already have a catkin workspace 'ros_ws'. Go to the source directory of the workspace

 cd ~/ros_ws/src

Clone this repo

 git clone https://github.com/cambel/ur3 ros_ur3

Installing dependencies

 cd ~/ros_ws
 rosinstall ~/ros_ws/src /opt/ros/noetic src/ros_ur3/dependencies.rosinstall
 sudo apt-get update
 rosdep fix-permissions
 rosdep update
 rosdep install --from-paths src --ignore-src --rosdistro=noetic -y

Building workspace

Build using catkin build

 cd ~/ros_ws/
 catkin clean
 catkin build

Additional python dependencies

Optionally, install the ur_ikfast library

 git clone https://github.com/cambel/ur_ikfast.git
 cd ur_ikfast
 pip install -e .

It takes a few minutes to compile the IKFast libraries.