# UR5 Simulation using Docker (URSim)

**Remember we are using CB3-Series, not E-Series.**

https://www.youtube.com/watch?v=eJGfk5-Gr_c

## Prerequirements
* Ubuntu 24.04

## ROS Jazzy Lazy Install
Check the official documentation if you have time.
https://docs.ros.org/en/jazzy/Installation.html

For lazy person:

sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && apt upgrade
sudo apt install ros-jazzy-desktop
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc

## Install Universal Robots ROS2 Driver

https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver

sudo apt-get install ros-${ROS_DISTRO}-ur

## Run URSim to simulate UR5 using Docker

>How to install docker on ubuntu.
https://docs.docker.com/engine/install/ubuntu/

1. Pull the docker image:

docker pull universalrobots/ursim_cb3

2. Run the image:

docker run --rm -it universalrobots/ursim_cb3

3. Access the robots user interface through the URL provide by the terminal output:

## Start the driver (Viewing UR5 Simulation in RViz)

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=<ip address>