katana_driver

This stack contains ROS hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

• JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
• simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
• URDF descriptions (package katana_description),
• simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
• some demo programs (package katana_tutorials).

For more information, visit the katana_driver ROS wiki page.

Build

• rosdep install --from-paths src --ignore-src -r -y
• catkin build