README.md

Synopsis

ROS packages for the integration of MoveIt framework, ros_control and Gazebo for the Mitsubishi PA10 7-DOF Arm.

Dependences

• ROS Packages:
  • MoveIt ROS
  • joint state publisher
  • robot state publisher
  • joint limits interface
  • xacro
  • ros_control
  • controller_manager
  • gazebo ros control

Installation:

$ sudo apt-get install ros-indigo-moveit-ros-full ros-indigo-moveit-ros-control-interface ros-indigo-moveit-planners* ros-indigo-ompl

$ sudo apt-get install ros-indigo-joint-state-publisher ros-indigo-robot-state-publisher ros-indigo-joint-limits-interface 

$ sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers ros-indigo-gazebo-ros-control

• Controllers to be used:
  • velocity controllers
  • effort controllers
  • position controllers
  • joint trajectory controller
  • joint state controller

Installation:

$ sudo apt-get install ros-indigo-velocity-controllers ros-indigo-position-controllers ros-indigo-effort-controllers ros-indigo-joint-trajectory-controller ros-indigo-joint-state-controller

Install

$ roscd && cd ../src
$ git clone https://github.com/mlogoth/PA10.git
$ cd .. && catkin_make

Demo

Visualization of PA10 running MoveIt framework.

roslaunch pa10_moveit_config demo.launch

Fake controllers are used.

Real Robot Experiment

1. run the tcpcontrol script on PA10 controller computer:

./Desktop/TCPModes/tcpvelocities/tcpcontrol

2. run the hardware interface and the moveit framework on your computer:

roslaunch pa10_moveit_config demo_velocity.launch

3. Move the robot end effector using MoveIt framework.

Gazebo

You can launch Gazebo using the launch file-

roslaunch pa10_gazebo pa10.launch

The launch file :

1. Launches Gazebo
2. Loads the robot model in Gazebo
3. Launched ros_control controller for the robot

The controller is set to launch a joint trajectory controller.

Gazebo + MoveIt

To run the Gazebo + Pa10 Controllers + MoveIt :

roslaunch pa10_gazebo pa10_moveit.launch rviz:=true

Set the argument rviz := true to launch RViz.