Add UR5e robot descriptions and MoveIt configurations for multi - end effector setups at CMS

[bondada-a]

Summary

• Add robot descriptions for UR5e arm with various end-effector configurations and camera.
• Add standardized MoveIt planning configurations for standalone, Hand-E, and ePick setups

New Packages

ur5e_robot_description

Robot description package containing URDF/XACRO files for:

• Standalone: UR5e + Zivid camera + tool exchanger robotside
• Hand-E: UR5e + Zivid camera + tool block + Robotiq Hand-E gripper
• ePick: UR5e + Zivid camera + tool block + Robotiq ePick vacuum gripper
• See ur5e_robot_description/README.md

ur5e_moveit_configs

Directory containing three MoveIt configuration packages:

• ur_standalone_moveit_config - For tool exchange operations

• ur_zivid_hande_moveit_config - For Hand-E gripper operations

• ur_zivid_epick_moveit_config - For ePick vacuum operations

• See ur5e_moveit_configs/README.md

  Usage

# Launch specific configurations
ros2 launch ur_standalone_moveit_config robot_bringup.launch.py
ros2 launch ur_zivid_hande_moveit_config robot_bringup.launch.py
ros2 launch ur_zivid_epick_moveit_config robot_bringup.launch.py

[maffettone]

This is really great stuff. Thank you.

One question on whether the dependencies are correct (listed in readme, but not in package.xml). After that good to merge on lint check.

[bondada-a]

I'll remove the exec depend for the hande and epick , i don't think they are available through rosdep. I'll keep the ur_description

[maffettone]

That makes sense, these are already included in the deps pulled by vcs in the build, yea?

[bondada-a]

That makes sense, these are already included in the deps pulled by vcs in the build, yea?

yep, i still have to update the vcs to pull from the upstream for epick but otherwise yes they are pulled through vcs.

I'm also not sure why the super-linter fails , the links provided in the markdown should all work.

[maffettone]

Potentially some confusing output at the summary flagging 403s. This is the error I believe:
https://github.com/NSLS2/erobs/actions/runs/18200467197/job/51818050091#step:4:362

/github/workspace/src/custom-ur-descriptions/ur5e_moveit_configs/README.md:119:401 MD013/line-length Line length [Expected: 400; Actual: 413]

[bondada-a]

should be fixed now

[maffettone]

Will merge and put in followup for the build failure.