NOTE: link for each topics are added as hyperlink in the points for detailed reference.
Containing all packages of moveit which are binary built and ready for direct deployement.
sudo apt install ros-humble-moveit*
A package which helps to publish joint states to a topic, making all other dependent node to know about the state of each joints.
sudo apt install ros-humble-joint-state-publisher
A controller which helps to send trajectory messages to robotic arm. The message has all specifications of joint angle values, velocity and effort variables
sudo apt install ros-humble-joint-trajectory-controller
Package which helps to servo the arm using linear velocity input format of link OR actuating all joint angles.
sudo apt install ros-humble-moveit-servo
To integrate UR series robots with Gazebo, you'll need to install the Universal Robots ROS2 Driver packages.
sudo apt-get install ros-humble-ur*
To enable the necessary controllers for use in Gazebo, you need to install the ROS2 Controllers packages
sudo apt install ros-humble-ros2-control*
sudo apt install ros-humble-gazebo-ros2-control
sudo apt install ros-humble-ur-moveit-config