Compile from source

This will assume that you already have a catkin workspace 'ros_ws'. Go to the source directory of the workspace

 cd ~/ros_ws/src

Clone this repo and the dependencies

 git clone https://github.com/cambel/ur3
 git clone https://bitbucket.org/traclabs/trac_ik.git

Optional dependencies for control of the real robot with the Universal_Robots_ROS_Driver

 git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git universal_robots_ros_driver \
 git clone -b calibration_devel https://github.com/fmauch/universal_robot.git universal_robot

Install ros dependencies (For Melodic, just replace noetic with melodic in the commands below)

 cd ~/ros_ws
 rosinstall ~/ros_ws/src /opt/ros/noetic src/ros_ur3/dependencies.rosinstall
 sudo apt-get update
 rosdep fix-permissions
 rosdep update
 rosdep install --from-paths src --ignore-src --rosdistro=noetic -y

for ROS Melodic only

 cd ~/ros_ws/src/gazebo_ros_link_attacher
 git checkout melodic-devel
 cd ~/ros_ws/src/robotiq
 git fetch origin && git checkout melodic-devel

for ROS Noetic only

 cd ~/ros_ws/src/gazebo_ros_link_attacher
 git checkout melodic-devel
 cd ~/ros_ws/src/robotiq
 git fetch origin && git checkout noetic-devel

Build using catkin build

 cd ~/ros_ws/
 catkin clean
 catkin build

**Additionally install the ur_ikfast library **

 git clone https://github.com/cambel/ur_ikfast.git
 cd ur_ikfast
 pip install -e .

It takes a few minutes to compile the IKFast libraries.