This repository provides ROS support for KHI robots.
Kinetic is supported.
How to Launch
1. Launch Control Node
Start khi_robot_control as:
roslaunch khi_robot_bringup ***_bringup.launch ip:=***
If you only want to view robot(not control), specify the argument 'viewer' to use viewer mode:
roslaunch khi_robot_bringup ***_bringup.launch ip:=*** viewer:=true
If you have no real robot, specify the argument 'simulation' to use loopback mode:
roslaunch khi_robot_bringup ***_bringup.launch simulation:=true
If you want to use gazebo simulation:
roslaunch ***_gazebo ***_world.launch
2. Launch MoveIt! Node
Start a MoveIt! script as:
roslaunch ***_moveit_config moveit_planning_execution.launch
Now you can see the rviz screen of MoveIt! and interact the robot with the GUI.
Connecting Real Robot
Refer to docs/ConnectingRealRobot.md
- duaro (currently simulation only)
About this software
This software is experimental code. There are known issues and missing functionality.
The APIs are completely unstable and likely to change. Use in production systems is not recommended.
KHI coordinate and ROS cordinate are different.
Origin of KHI coordinate is Robot Link1 origin. Origin of ROS coordinate is World origin.
About CAD data
***_ description are using STL files based on CAD Data of the KHI website.
Therefore KHI CAD Data Disclaimer is also applied to these files.