The ROS drivers for the svenzva arm product line.
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maxsvetlik Arm motor generalization (#17)
* adds parameters for customized builds that may not have a gripper.

* imposes safe joint limits for spring-assembly on joint 2

* modifications to allow joint trajectory controller to handle less than 7 joints

* general clean up

* dynamics module can now handle robots with non-default number of joints
Latest commit ed8a95d Oct 16, 2018

README.md

Svenzva Robotics ROS drivers

This is the active repository for the Svenzva Robotics robotic product line ROS software. The svenzva_ros package holds all thats needed to get up and running with ROS, including drivers, description files, simulation files and interactive utilities.

Prerequisites

Our testing platform is ROS Indigo with 14.04 and ROS Kinetic 16.04. You must have either of these installed or have access to a system with ROS installed to use this ROS package. You can find out more about installing ROS here.

Installing

These instructions will get you a copy of the ROS package and its dependencies on your local machine.

Clone the repository into an existing workspace

git clone https://github.com/SvenzvaRobotics/svenzva_ros.git

Use wstool to grab github source dependencies:

wstool init src PATH_TO_ROSINSTALL_FILE.rosinstall

where the rosinstall file desired is the dependencies.rosinstall file in the root of the svenzva_ros package.

Finally, use rosdep to resolve dependencies specified in package descriptors:

rosdep install --from-paths ./ --ignore-src --rosdistro=$ROS_DISTRO -y

Next, install any python dependencies:

pip install yamlordereddictloader

Deployment

To bringup the ROS driver, bringup the main launch file:

roslaunch svenzva_drivers svenzva_bringup.launch

For additional detail on the bringing up the system, please check the Github Wiki.

How to Use

Once the main launch file has been brought up, a number of robot features are exposed via ROS. We explore these in detail in the Github Wiki pages and own support documents.

License

This project, unless specified otherwise, is licensed under the BSD License - see the LICENSE.md file for details.