JARI_ROBOT_ROS

About

This is ros package for jari robot.

Environment

• Ubuntu 16.04

• ROS Kinetic

  • Install -> Link, China Mirrors are suggested.
  • Tutorial -> Link

• Moveit Motion Plan Framework

  • Tutorial -> Link
  • You also need to install trac_ik package and ik_fast inverse kinematic solver if you want to use besides default kdl solver. A problem about using ik_fast is encountered in my work. trac_ik solver is suggested for this package.

• IDEs:

  • Pycharm for python
  • QT for c++
  • This page collects experience and advice on using integrated development environments (IDEs)

Usage

Download and put the package in ~/catkin_ws/src, then make:

cd ~/catkin_ws
catkin_make

jari_robot_12kg_description

This is the robot visualization package, the robot model is created in urdf and xacro format, which can be found in jari_robot_description/urdfandjari_robot_description/xacro.

to play with the model, try:

roslaunch jari_robot_12kg_description jari_robot_12kg_xacro_rviz.launch

the robot will rotate about base joint:

you can also try:

roslaunch jari_robot_12kg_description jari_robot_12kg_urdf_rviz.launch 

in this way you can move the robot with a joint slider panel:

jari_robot_12kg_moveit_config

this is the moveit motion plan package, it is suggested that go through moveit tutorial and then check about this package.

Other

Work still in progress.