rrbot

Comprehensive example to show recent capabilities in ROS/Gazebo/MoveIt!

Dependencies

ros indigo and gazebo2!

sudo apt-get install ros-indigo-desktop-full

Uses

• Bring up the single_rrbot robot (it loads the simulated one by default):

roslaunch rrbot_launch bringupRRBOT.launch

• Move the single_rrbot robot using ros-controls

Launch rqt, and open Plugins->Robot Tools->Joint trajectory controller and move the robot with slides.

• Move the single_rrbot robot using MoveIt!

Install necessary packages like:

sudo apt-get install ros-indigo-ompl-visual-tools ros-indigo-moveit-ros-*

Load the planning environment:

roslaunch single_rrbot_moveit_config move_group.launch

Open the pre-configured rviz and use the MoveIt! display:

roslaunch single_rrbot_moveit_config moveit_rviz.launch