I am an junior automation engineer that recently has been dedicated to learn ROS.
My objective right now is to develop an application in ROS Noetic, using Moveit and Gazebo to simulate in real-time, the control of a ur5 robot with a Robotiq gripper attached.
More specifically, I want the robot to position itself accordingly to my mouse position in real-time, I actually did it with the univeral_robot package and this tutorial: Realtime Arm Servoing
However, when I tried to attached the tool, it didn't work. And then I realized that I shouldn't be using the original files from the packages to develop my own applications. So I started to follow these tutorials, hoping that I could make the robot + tool function and then try to evolve from there to real-time control: Universal Robot with ROS - How to simulate UR5 in Gazebo and code Inverse Kinematics in C++
Everything works up until I try to launch everything together, here is the github package that contains the files: ur_app_youtube
and when I launch my equivalent to: ur_app_youtube/launch/spawn_ur5_eff_controller.launch, it opens gazebo well, but RViZ doesn't open, just the icon appears and it just stays like that forever. There are no errors in the terminal and I've done some research but I haven't figured out why it could be happening.
How can I make this application real-time?
Because if I just have a node publishing the position of the mouse to the robot it will be lagging, I should need some specific tool.
