This repository provides ROS support for KHI robots.
ROS distribution Kinetic is supported.
Start khi_robot_control as:
roslaunch khi_robot_bringup ***_bringup.launch ip:=***
If you only want to view robot(not control), specify the argument 'viewer' to use viewer mode:
roslaunch khi_robot_bringup ***_bringup.launch ip:=*** viewer:=true
If you have no real robot, specify the argument 'simulation' to use loopback mode:
roslaunch khi_robot_bringup ***_bringup.launch simulation:=true
If you want to use gazebo simulation:
roslaunch ***_gazebo ***_world.launch
Start a MoveIt! script as:
roslaunch ***_moveit_config ***_moveit.launch
Now you can see the rviz screen of MoveIt! and interact the robot with the GUI.
Refer to docs/ConnectingRealRobot.md
- duaro (currently simulation only)
- rs007l
- rs007n
- rs80n
This software is experimental code. There are known issues and missing functionality.
The APIs are completely unstable and likely to change. Use in production systems is not recommended.
KHI coordinate and ROS cordinate are different.
Origin of KHI coordinate is Robot Link1 origin.
Origin of ROS coordinate is World origin.