motoman_sda5f_pkg

This is a ROS package for motoman SDA5F dual-arm robot. And this package is only validated on Ubuntu 14.04 STL + ROS indigo

motoman_sda5f_support

This package contains configuration data, 3D models and launch files for Motoman SDA5F manipulators.

motoman_sda5f_moveit_config

An automatically generated package with all the configuration and launch files for using the motoman_sda5f with the MoveIt Motion Planning Framework. industrial_robot_simulator is launched as an fake controller.

Install

1. cd ~/catkin_ws/src
2. git clone git@github.com:qqfly/motoman_sda5f_pkg.git
3. rosdep install --from-paths . --ignore-src --rosdistro indigo
4. catkin_make

Usage

In Simulation

1.Display SDA5 in Rviz:

roslaunch motoman_sda5f_support test_sda5f.launch

2.Use MoveIt with simulated robot:

roslaunch motoman_sda5f_moveit_config demo_fake.launch
or
roslaunch motoman_sda5f_moveit_config demo_sim.launch

Real Robot

1.Download motoman_driver for dual-arm FS100 contrller.

git clone git@github.com:qqfly/motoman.git -b dual_arm_fs100_indigo

2.Follow the instructions from ROS
3.Set IP for your computer

4.Connect robot with an Ethernet cable.
5.Launch motoman_driver ``` roslaunch motoman_sda5f_support robot_interface_streaming_sda5f.launch ``` 6.Launch MoveIt ``` roslaunch motoman_sda5f_moveit_config demo.launch ```