├── README.md ├── dual_ur_pics ├── gazebo仿真.png ├── rviz可视化.png ├── 真实机器人.jpg ├── 节点图.png └── 连接机器人rviz.png ├── src ├── CMakeLists.txt ├── dual_ur_description │ ├── CMakeLists.txt │ ├── cmake │ │ ├── ur_descriptionConfig-version.cmake │ │ └── ur_descriptionConfig.cmake │ ├── launch │ │ ├── display.launch │ │ ├── dual_ur_upload.launch │ │ ├── state_publish.launch │ │ ├── ur10_upload.launch │ │ ├── ur3_upload.launch │ │ ├── ur5_upload.launch │ │ └── urdf.rviz │ ├── meshes │ │ ├── dizuo.STL │ │ ├── gocator.STL │ │ ├── tooling.STL │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── dual_ur10_joint_limited_robot.urdf.xacro │ │ ├── dual_ur10_robot.urdf.xacro │ │ ├── dual_ur_gazebo.urdf │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10.urdf.xacro │ │ ├── ur3.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur5.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ └── ur5_robot.urdf.xacro ├── dual_ur_gazebo │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_dual_ur (复件).yaml │ │ ├── arm_controller_dual_ur.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── dual_ur.launch │ │ └── dual_ur_joint_limited.launch │ └── package.xml ├── dual_ur_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── dual_ur(备份).srdf │ │ ├── dual_ur.srdf │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ └── sensors_3d.yaml │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── dual_ur_moveit_controller_manager.launch.xml │ │ ├── dual_ur_moveit_planning_execution.launch │ │ ├── dual_ur_moveit_sensor_manager.launch.xml │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml └── ur_modern_driver │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── config │ ├── ur10_controllers.yaml │ ├── ur3_controllers.yaml │ └── ur5_controllers.yaml │ ├── include │ └── ur_modern_driver │ │ ├── bin_parser.h │ │ ├── event_counter.h │ │ ├── log.h │ │ ├── pipeline.h │ │ ├── queue │ │ ├── LICENSE.md │ │ ├── atomicops.h │ │ └── readerwriterqueue.h │ │ ├── ros │ │ ├── action_server.h │ │ ├── action_trajectory_follower_interface.h │ │ ├── controller.h │ │ ├── hardware_interface.h │ │ ├── io_service.h │ │ ├── lowbandwidth_trajectory_follower.h │ │ ├── mb_publisher.h │ │ ├── rt_publisher.h │ │ ├── service_stopper.h │ │ ├── trajectory_follower.h │ │ └── urscript_handler.h │ │ ├── tcp_socket.h │ │ ├── test │ │ ├── random_data.h │ │ └── utils.h │ │ ├── types.h │ │ └── ur │ │ ├── commander.h │ │ ├── consumer.h │ │ ├── factory.h │ │ ├── master_board.h │ │ ├── messages.h │ │ ├── messages_parser.h │ │ ├── parser.h │ │ ├── producer.h │ │ ├── robot_mode.h │ │ ├── rt_parser.h │ │ ├── rt_state.h │ │ ├── server.h │ │ ├── state.h │ │ ├── state_parser.h │ │ └── stream.h │ ├── launch │ ├── dual_ur_bringup.launch │ ├── left_ur_bringup.launch │ ├── right_ur_bringup.launch │ ├── ur10_bringup.launch │ ├── ur10_bringup_compatible.launch │ ├── ur10_bringup_joint_limited.launch │ ├── ur10_ros_control.launch │ ├── ur3_bringup.launch │ ├── ur3_bringup_joint_limited.launch │ ├── 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