denso_robot_ros

$ cd your_ws/src
$ git clone https://github.com/Nishida-Lab/denso_robot_ros.git
$ cd ..
$ rosdep install -iry --from-paths src
$ catkin build

DENSO VS060

Simulation (gazebo)

$ roslaunch denso_robot_bringup vs060_bringup.launch sim:=true

• Using STOMP or CHOMP for the planner (for CHOMP, planner:=chomp)

$ roslaunch denso_robot_bringup vs060_bringup.launch sim:=true planner:=stomp

DENSO VS087

Simulation (rviz + fake controller)

$ roslaunch vs087_moveit_config demo.launch

• Using STOMP or CHOMP for the planner (for CHOMP, planner:=chomp)

$ roslaunch vs087_moveit_config demo.launch planner:=stomp

Simulation (gazebo)

$ roslaunch denso_robot_bringup vs087_bringup.launch sim:=true

• Using STOMP or CHOMP for the planner (for CHOMP, planner:=chomp)

$ roslaunch denso_robot_bringup vs087_bringup.launch sim:=true planner:=stomp

Real robot

$ roslaunch denso_robot_bringup vs087_bringup.launch sim:=false ip_address:=xxx.xxx.xxx.xxx

• Using STOMP or CHOMP for the planner (for CHOMP, planner:=chomp)

$ roslaunch denso_robot_bringup vs087_bringup.launch sim:=false ip_address:=xxx.xxx.xxx.xxx planner:=stomp

STOMP and CHOMP planner integration

$ cd your_ws/src
$ git clone https://github.com/Nishida-Lab/moveit.git
$ git clone https://github.com/Nishida-Lab/industrial_moveit.git
$ cd ..
$ rosdep install -iry --from-paths src
$ catkin build