Requriements

OS

Ubuntu 22.04 (recommended)
Ubuntu 20.04 (untested)

Packages

ROS 2 Humble Hawksbill

This project uses the ROS 2 Humble Hawksbill build as its middlware which will be supported until 2027.
Follow the official installation instructions online, and build from source if using Ubuntu 20.04.
Installation Instructions

ur_robot_driver

This is the driver for Universal Robots interfacing with ROS 2.
UR Driver Repo

sudo apt-get install ros-humble-ur

realsense2_camera

This is the driver for the Intel Realsense D405 stereo camera.
Intel Realsense Repo

Start by installing the Intel Realsense SDK.

sudo apt install ros-humble-librealsense2*

Now install the Intel Realsense ROS 2 wrapper.

sudo apt install ros-humble-realsense2-*