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This video walks you step-by-step through building, configuring, and running a simulated UR5 robotic arm in NVIDIA Isaac Sim, using ROS 2 and MoveIt 2 for motion planning and control. The main stages are:
- Setup
- Install ROS 2 Humble, Isaac Sim, and required ROS 2 packages.
- Download & unpack the
moveit2_ur5
example. - MoveIt 2 Config
- Use the Setup Assistant to generate a collision matrix and add a fixed “virtual joint.”
- Create two planning groups—arm (6 joints, RRT-Connect + KDL IK) and gripper (2 knuckles).
- Define saved poses, the gripper as end-effector, and passive mimic joints.
- Auto-generate ROS 2 controllers, correct any YAML type errors, then rebuild.
- RViz Test
- Launch the demo, drag the goal marker to plan & execute arm motions, and use the gripper action interface.
- Isaac Sim Integration
- Install the ROS 2 Control bridge, tweak the URDF/ZACRO to use Isaac’s joint command/state topics, convert to URDF, and import it.
- Add a ground plane, position the robot, then build an Action Graph linking ROS 2 publish/subscribe blocks to Isaac articulation controllers (set base link as root).
- Fix any joint-limit or mimic-joint issues.
- Final Demo
- Run Isaac Sim alongside the ROS 2 launch; moving the RViz marker now drives the UR5 and gripper in real time within Isaac Sim.