denso_robot_ros
$ cd your_ws/src
$ git clone https://github.com/Nishida-Lab/denso_robot_ros.git
$ cd ..
$ rosdep install -iry --from-paths src
$ catkin build
DENSO VS060
Simulation (gazebo)
$ roslaunch denso_robot_bringup vs060_bringup.launch sim:=true
- Using STOMP or CHOMP for the planner (for CHOMP,
planner:=chomp
)
$ roslaunch denso_robot_bringup vs060_bringup.launch sim:=true planner:=stomp
DENSO VS087
Simulation (rviz + fake controller)
$ roslaunch vs087_moveit_config demo.launch
- Using STOMP or CHOMP for the planner (for CHOMP,
planner:=chomp
)
$ roslaunch vs087_moveit_config demo.launch planner:=stomp
Simulation (gazebo)
$ roslaunch denso_robot_bringup vs087_bringup.launch sim:=true
- Using STOMP or CHOMP for the planner (for CHOMP,
planner:=chomp
)
$ roslaunch denso_robot_bringup vs087_bringup.launch sim:=true planner:=stomp
Real robot
$ roslaunch denso_robot_bringup vs087_bringup.launch sim:=false ip_address:=xxx.xxx.xxx.xxx
- Using STOMP or CHOMP for the planner (for CHOMP,
planner:=chomp
)
$ roslaunch denso_robot_bringup vs087_bringup.launch sim:=false ip_address:=xxx.xxx.xxx.xxx planner:=stomp
STOMP and CHOMP planner integration
$ cd your_ws/src
$ git clone https://github.com/Nishida-Lab/moveit.git
$ git clone https://github.com/Nishida-Lab/industrial_moveit.git
$ cd ..
$ rosdep install -iry --from-paths src
$ catkin build