added launch files and controller configuration for launching separate ur5 arm in gazebo

ur5_description/urdf/gazebo.urdf.xacro

+<?xml version="1.0"?>
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+  <gazebo>
+    <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>1000.0</updateRate>
+      <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
+    </controller:gazebo_ros_controller_manager>
+
+    <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>1.0</updateRate>
+      <timeout>5</timeout>
+      <interface:audio name="power_monitor_dummy_interface" />
+      <powerStateTopic>power_state</powerStateTopic>
+      <powerStateRate>10.0</powerStateRate>
+      <fullChargeCapacity>87.78</fullChargeCapacity>     
+      <dischargeRate>-474</dischargeRate>
+      <chargeRate>525</chargeRate>
+      <dischargeVoltage>15.52</dischargeVoltage>
+      <chargeVoltage>16.41</chargeVoltage>
+    </controller:gazebo_ros_power_monitor>
+  </gazebo>
+
+</robot>

ur5_description/urdf/robot.urdf.xacro

@@ -2,7 +2,10 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" 
        name="ur5">
 
+  <include filename="$(find ur5_description)/urdf/gazebo.urdf.xacro" />
+
   <include filename="$(find ur5_description)/urdf/model.urdf.xacro" />
   <xacro:ur5_robot prefix="" />
 
+
 </robot>

ur5_gazebo/CMakeLists.txt

+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

ur5_gazebo/Makefile

+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

ur5_gazebo/controller/arm_controller_ur5.yaml

+arm_controller:
+  type: robot_mechanism_controllers/JointTrajectoryActionController
+  joints:
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  gains:
+    shoulder_pan_joint:
+      p: 2000.0
+      d: 0.0
+    shoulder_lift_joint:
+      p: 2000.0
+      d: 0.0
+    elbow_joint:
+      p: 2000.0
+      d: 0.0
+    wrist_1_joint:
+      p: 2020.0
+      d: 0.0
+    wrist_2_joint:
+      p: 2030.0
+      d: 0.0
+    wrist_3_joint:
+      p: 2050.0
+      d: 0.0
+
+  arm_joint_trajectory_action_node:
+    joints:
+        - shoulder_pan_joint
+        - shoulder_lift_joint
+        - elbow_joint
+        - wrist_1_joint
+        - wrist_2_joint
+        - wrist_3_joint
+    constraints:
+      goal_time: 0.6
+      shoulder_pan_joint:
+        goal: 0.05
+      shoulder_lift_joint:
+        goal: 0.05
+      elbow_joint:
+        goal: 0.05
+      wrist_1_joint:
+        goal: 0.05
+      wrist_2_joint:
+        goal: 0.05
+      wrist_3_joint:
+        goal: 0.05
+
+

ur5_gazebo/launch/robot.launch

+<?xml version="1.0"?>
+<launch>
+
+  <!-- startup simulated world -->
+  <include file="$(find cob_gazebo_worlds)/ros/launch/empty-world.launch" />
+
+  <!-- send frida urdf to param server -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find ur5_description)/urdf/robot.urdf.xacro'" />
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1	 " respawn="false" output="screen" />
+
+  <!-- Controller Manager -->
+  <include file="$(find pr2_controller_manager)/controller_manager.launch" />
+
+  <!-- Fake Calibration -->
+  <node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />
+
+  <rosparam file="$(find ur5_gazebo)/controller/arm_controller_ur5.yaml" command="load"/>
+
+  <node name="arm_controller_spawner" pkg="pr2_controller_manager" type="spawner" args="arm_controller" />
+	
+  <group ns="arm_controller">
+	<node name="arm_joint_trajectory_action_node" pkg="joint_trajectory_action" type="joint_trajectory_action" />
+  </group>
+
+</launch>

ur5_gazebo/manifest.xml

+<package>
+  <description brief="ur5_gazebo">
+
+     ur5_gazebo
+
+  </description>
+  <author>Alexander Bubeck</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/ur5_gazebo</url>
+  <depend package="ur5_description"/>
+
+</package>
+
+