https://github.com/ros-industrial/universal_robot/issues/243
In terminal 1:
roslaunch ur_gazebo ur5.launch limited:=true
in terminal 2:
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
in terminal 3:
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
