No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/Kawasaki-Robotics/khi_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-05-15 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| khi_duaro_description | 1.1.1 |
| khi_duaro_gazebo | 1.1.1 |
| khi_duaro_ikfast_plugin | 1.1.1 |
| khi_duaro_moveit_config | 1.1.1 |
| khi_robot | 1.1.1 |
| khi_robot_bringup | 1.1.1 |
| khi_robot_control | 1.1.1 |
| khi_robot_msgs | 1.1.1 |
| khi_rs007l_moveit_config | 1.1.1 |
| khi_rs007n_moveit_config | 1.1.1 |
| khi_rs080n_moveit_config | 1.1.1 |
| khi_rs_description | 1.1.1 |
| khi_rs_gazebo | 1.1.1 |
| khi_rs_ikfast_plugin | 1.1.1 |
README
khi_robot 
This repository provides ROS support for KHI robots.
ROS distribution 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
Supported Robot
- duaro (currently simulation only)
- rs007l
- rs007n
- rs80n
Notes
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.
Coordinate
KHI coordinate and ROS cordinate are different.
Origin of KHI coordinate is Robot Link1 origin.
Origin of ROS coordinate is World origin.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.