It's a model of Industrial Manipulator KUKA. Full description you can read in File "Robot Description"
How to run project:
- Open Linux console
- Create workspace folder (Example: mkdir -p robot_ws/src)
- Go to workspace folder (cd robot_ws)
- Use command catkin_make
- Open src and put there manipulator folder
- return to robot_ws/ and launch catkin_make again
- Write command source devel/setup.bash
- Use command roslaunch robot_gazebo rviz.launch to run RVIZ and command roslaunch robot_gazebo begin.launch torum model in GAZEBO
- Enjoy!
Second Part - Create a model using Xacro (manipulator_xacro folder). I used xacro in order to parameterize the sizes of the links of robots, and easily change the rotation angles of each rotational joint. I also used a macro to set the same moment of inertia for each link by default, however this is temporary
How to run project:
- Open Linux console
- Create workspace folder (if you want use previous workspace, delete manipulator folder) (Example: mkdir -p robot_ws/src)
- Go to workspace folder (cd robot_ws)
- Use command catkin_make
- Open src and put there manipulator folder
- return to robot_ws/ and launch catkin_make again
- Write command source devel/setup.bash
- Use command roslaunch robot_gazebo rviz.launch to run RVIZ and command roslaunch robot_gazebo begin.launch torum model in GAZEBO
- Enjoy!
If you want to mak echanges in manipulator's configuration:
- Open robot.xacro in directory ./src/manipulator_xacro/robot_description/urdf
- Change parameters
- Go to that directory in console (cd ./src/manipulator_xacro/robot_description/urdf)
- Generate urdf file using command: xacro robot.xacro -> robot.urdf
- Enjoy