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calvin_robot: calvin_bringup | calvin_description | calvin_gazebo | calvin_joint_commander | calvin_moveit_config | calvin_pick_n_place

Package Summary

Descriptions, utilities and bringup facilities for the Calvin robot.

calvin_robot: calvin_bringup | calvin_description | calvin_gazebo | calvin_joint_commander | calvin_moveit_config | calvin_pick_n_place

Package Summary

Descriptions, utilities and bringup facilities for the Calvin robot.

Installation

For installation instructions, see uos-ros-pkg.

Documentation

This whole stack is being actively developed. If you use these packages and have any comments/bug reports/patches, or would like to contribute, don't hesitate to contact us!

Quick Start

Pick + Place demo:

roslaunch calvin_gazebo calvin_table_world.launch
roslaunch calvin_moveit_config moveit_planning_execution.launch use_pointcloud:=true
roslaunch calvin_moveit_config moveit_rviz.launch config:=true
rosrun calvin_pick_n_place calvin_pick_n_place

How to get FK/IK:

rosservice call /compute_ik '{ik_request: {group_name: "arm", ik_link_name: "katana_gripper_tool_frame", avoid_collisions: true, pose_stamped: {header: {frame_id: "katana_base_link"}, pose: {position: {x: 0.476, y: 0.000, z: 0.316}, orientation: {w: 1.0} } } } }'

rosservice call /compute_fk '{fk_link_names: ['katana_gripper_tool_frame'], robot_state: {joint_state: {name: ['katana_motor1_pan_joint', 'katana_motor2_lift_joint', 'katana_motor3_lift_joint', 'katana_motor4_lift_joint', 'katana_motor5_wrist_roll_joint'], position: [0.0,0.0,0.0,0.0,0.0] } } }'

Pictures/Videos

calvin.jpg

Picking an object using MoveIt!: https://vimeo.com/82181677

Robot photos: http://www.flickr.com/photos/mas-fotografie/sets/72157638791659873

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]


2019-09-14 12:33