Simulation of a UR3e Robot Using Matlab/Simulink 2024a via ROS2 Humble

This document demonstrates the simulation of a UR3e robot using Matlab R2024a via ROS2 Humble, observing the robot's movement in the Universal Robots URSim software. A GUI was built in Matlab/Simulink from where the desired trajectories are sent via ROS2 to the manufacturer's simulator called URSim. The movements of this simulator are identical to the movements reproduced by the Matlab mimic. This will later allow moving the real robot once the testing stage in simulation is completed. The use of ROS2 in this simulator is emphasized as well as very recent versions of both Matlab and URSim.