ur_e_description 1.2.5 URDF description for Universal UR5/10 robot arms Wim Meeussen Kelsey Hawkins Mathias Ludtke Felix Messmer G.A. vd. Hoorn Miguel Prada Sarasola Nadia Hammoudeh Garcia BSD http://ros.org/wiki/ur_e_description catkin joint_state_publisher robot_state_publisher rviz urdf xacro