Please check out a branch appropriate to your Ubuntu OS version.
The repository contains code that uses Gazebo to do kitting simulation. The simulation environment is based on the Agility Lab setup at NIST. There are 2 robots - a Fanuc LRMate and a Motoman sia200d that use gomotion trajectory and serial kinematic modules. In addition, IKfast is used for the Fanuc kinematics.
Below is an animated gif demonstration of the simulation.
Click here To see the Doxygen Documentation
