$ sudo apt-get install \ ros-indigo-ur-gazebo \ ros-indigo-ur5-moveit-config \ ros-indigo-ur-kinematics
$ roslaunch ur_gazebo ur3.launch $ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true $ roslaunch ur3_moveit_config moveit_rviz.launch config:=true
