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Only released in EOL distros:  

katana_manipulation: katana_manipulation_tutorials | katana_object_manipulation_launch | katana_simple_grasp_planner | katana_tabletop_manipulation_launch

Package Summary

This package contains the launch files for arm navigation with the Katana robot arm. It is modeled after the pr2_arm_navigation stack. All packages inside that stack are represented as subdirectories here.

The complete arm navigation pipeline can be launched via the katana_arm_navigation.launch file.


  1. ROS Versions

ROS Versions

This package is tested with Diamondback and won't run under CTurtle.

As a source of sensor data, a Kinect is used. At the moment, the Kinect camera is mounted separately from the arm, although in the future, it will be mounted (together with the Katana) on a mobile robot.

The following picture should clarify the position of the Kinect relative to the arm in our current setup:


2021-04-10 12:43