Adding end-effector to ur5 robot


I want to attach a end-effector tool to the UR5 robot from the universal robots package, and was wondering if anyone knows how I should go about solving such a task?

Any help would be greatly appreciated as I am fairly new to both ROS and Gazebo :slight_smile:



In some courses we use the ShadowHand, and its basicallly UR5 with a griper attached. You could have a look at it and see how its done.

I leave you here the course where its used and the git:

git clone --depth 1 -b noetic
git clone --depth 1 -b noetic 

Hope it helps :wink: