/motoman_motomini

Packages for simulating Motoman Motomini in Gazebo and RViz

Primary LanguageCMakeBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

motoman_motomini

Build Status license - bsd 3 clause

Packages for simulating Motoman Motomini in Gazebo and RViz

Simulation with MoveIt! Click the above picture to view demo in YouTube.

To simulate in Gazebo with MoveIt!

roslaunch motoman_motomini_control simulate_with_moveit.launch

To send joint trajectory command by rqt topic publish (/yk/target_joint_data)

rosrun motoman_motomini_control motomini_movegroup_control

To receive real/fake joint valuse from NexCOBOT mqtt_monitor and simulate with Gazebo

This is customized for the AWS robomaker demo in iREX2019. Will need more instructions.

roslaunch mqtt_monitor mqtt_yk_monitor.launch is_sim:=true

Note: motoman_motomini_support is cloned from ROS-Industrial link, and I add Yaskawa logo on its forth joint (for demo purpose). In addition, currently, this package only for simulation (I remove dependecy of motoman_driver).