ydk18 / manipulator-h_gazebo_and_realhardware

Execute Manipulator-H in gazebo.

I. Repository instruction

This repository is for manipulator-h (from robotis).

• Software: ROS version : kinetic

• Hardware: (manipulator-H)

II. Execute gazebo

roslaunch manipulator_h_gazebo manipulator_h_gazebo.launch

III. Execute Manipulation

roslaunch manipulator_h_manager manipulation.launch

gazebo and real-hardware work together.

I. Leave the starting gazebo

II. Execute dynamixel_ctrl package

This connects the dynamixel.

roslaunch aecobot_manipulator_h_dynamixel_ctrl dynamixel_controller.launch

III. Execute interface package

The interface package connects moveit! package and dynamixel package.

roslaunch aecobot_manipulator_h_interface aecobot_manipulator_h_interface.launch

If you want to execute only real-hardware, you just execute aeco_manipulator_h package.

I. Execute dynamixel_ctrl package

This connects the dynamixel.

roslaunch aeco_manipulator_h_dynamixel_ctrl dynamixel_ctrl.launch

I. Execute Moveit! package

roslaunch aecobot_manipulator_h_moveit demo.launch

III. Execute interface package

The interface package connects moveit! package and dynamixel package.

roslaunch aecobot_manipulator_h_interface aecobot_manipulator_h_interface.launch