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Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the TRA1 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Maintainer status: developed
- Maintainer: Tokyo Opensource Robotics Kyokai (TORK) Developer Team <dev AT opensource-robotics.tokyo DOT jp>
- Author: Ryosuke Tajima <ryosuke.tajima AT opensource-robotics.tokyo DOT jp>
- License: GPLv2, CC-BY-SA
- Bug / feature tracker: https://github.com/tork-a/minas/issues
- Source: git https://github.com/tork-a/minas.git (branch: master)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the TRA1 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Maintainer status: developed
- Maintainer: Tokyo Opensource Robotics Kyokai (TORK) Developer Team <dev AT opensource-robotics.tokyo DOT jp>
- Author: Ryosuke Tajima <ryosuke.tajima AT opensource-robotics.tokyo DOT jp>
- License: GPLv2, CC-BY-SA
- Bug / feature tracker: https://github.com/tork-a/minas/issues
- Source: git https://github.com/tork-a/minas.git (branch: master)
Package Summary
This package contains the description (mechanical, kinematic, visual, etc.) of the TRA1 robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.
- Maintainer status: maintained
- Maintainer: Tokyo Opensource Robotics Kyokai (TORK) Developer Team <dev AT opensource-robotics.tokyo DOT jp>
- Author: Ryosuke Tajima <ryosuke.tajima AT opensource-robotics.tokyo DOT jp>
- License: GPLv2, CC-BY-SA
- Bug / feature tracker: https://github.com/tork-a/minas/issues
- Source: git https://github.com/tork-a/minas.git (branch: master)
Contents
This package includes the kinematic and geometric model of the robot named "tra1". tra1 is an industrial robot manipulator with 6 DOFs, for specialized to manipulate heavy weight object up to 20kg.
Quick start
To visualize the robot model in rviz, type command as:
$ roslaunch tra1_description tra1.launch
The rviz and slider interface for joint angle appears.
Package contents
The files organized into following directories.
- urdf/ contains (xacro representations of) urdf descriptions of tra1.
- meshes/ contains mesh files (.stl) for visualization and collision properties.
- launch/ contains launch file to visualize the robot model in rviz.