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This package contains at collection of demonstration behaviors for the Kinova Mico robot arm using the CHRISLab Flexible Manipulation system, which is a collection of FlexBE compatible state implementations that interface with ROS MoveIt! capabilities.
The Flexible Manipulation system has been tested using the latest version of ROS Kinetic. You should first follow the ROS Install Guide and get that set up before proceeding.
To use this demonstration, we assume that a catkin workspace is created, and the $WORKSPACE_ROOT
environment variable is defined.
On a new system, this can be accomplished by following the first six steps of the initial installation directions at CHRISLab Install.
Change to the $WORKSPACE_ROOT/src
folder (e.g. with roscd
if the workspace is set up correctly), clone this repository, and then run
chris_kinova_flexible_manipulation/install/install_chris_kinova_flexible_manipulation.sh
This script can be applied to an existing workspace if desired.
This will clone all of the necessary packages for our demonstration.
After the script completes, do a catkin build
and re-source the environment setup before running the programs.
- Kinova simulation
roscore roslaunch gazebo_ros empty_world.launch roslaunch chris_kinova_bringup chris_kinova_robot_gazebo.launch roslaunch chris_kinova_bringup chris_kinova_trajectory_controllers.launch roslaunch chris_kinova_bringup chris_moveit_demo.launch roslaunch chris_kinova_flexible_manipulation chris_kinova_behavior_testing.launch
For a hardware based demonstration, see the chris_kinova_bringup
README, and add the
roslaunch chris_kinova_flexible_manipulation chris_kinova_behavior_testing.launch
The current kinova hardware driver does not properly handle the FollowJointTrajectoryAction, and returns a success result prematurely.
Copyright (c) 2018 Capable Humanitarian Robotics and Intelligent Systems Lab (CHRISLab) Christopher Newport University
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