widowx_arm_dev
ROS support for WidowX including MoveIt!, IKFast and Pick & Place / Sorting demo.
Optionally using SR300 for pointcloud.
Depending on interbotix/arbotix_ros/turtlebot2i branch for gripper controller.
Quick Start:
mkdir -p ~/widowx_arm/src
cd ~/widowx_arm/src
git clone https://github.com/Interbotix/widowx_arm.git .
git clone https://github.com/Interbotix/arbotix_ros.git -b turtlebot2i
cd ~/widowx_arm
catkin_make
source devel/setup.bash
roslaunch widowx_arm_bringup arm_moveit.launch sim:=false sr300:=false
Object manipluation:
roslaunch widowx_arm_bringup arm_moveit.launch sim:=false sr300:=true
roslaunch widowx_block_manipulation block_sorting_demo.launch