Invite-Robotics

This repository contains the integration of the CSDA10F dual-arm Motoman Robot with two 2-figer adaptive Robotiq grippers and custom sensors with ROS framework. Aiming to develop robotics applications at Invite GmbH Research Center.

Contents

• Installation Instructions

• Robot URDF configuration

• Robot Moveit configuration

• Vision System Interface

• Tutorials

  • Connect to FS100 Robot Controller
  • Move Group Interface Tutorial Cpp
  • CSDA10F Robot Interface
  • Cartesian Task Planner Cpp
  • CSDA10F Pick and Place
  • Simulation Scene Objects

• Release notes

• Notes for safety operation

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For further information please see the repository Wiki.

About The Project

This is a non-profit/collaborative project between the National University of Colombia and Invite GmbH research center, that intends to allow Invite to develope more complex/cooler task without them facing alone the already challenging ROS learning curve. In order to achieve this we are trying to set-up most required robot configurations and write/migrate examples and tutorials of common task with the CSDA10F robot.

Project Facts/Datasheet

Function	Status
MoveIt! Configuration	Supported
CSDA10F support package	Supported
Configuration files for real robot operation	Supported
MoveGroupInterface tutorial with CSDA10F	Supported
TRAC-IK Integration for most move groups	Supported
Motion planning with 15 DoF	Supported
Motion execution of 15 DoF at a time	Supported
Gazebo robot simulation	Supported
Gazebo grippers simulation	In progress
Grippers control through ROS control	Supported