Sample applications for ROS combined with a (simulated) Franka Emika Panda robots
Contains different examples for the planning and execution of robotic motions with MoveIt in ROS.
The different examples:
- Planning and simulation based on rviz:
roslaunch panda_simulation simulation.launch- RViz window to control the robot (tutorial)
- Gazebo window to observe the executed robot motion
- rqt to show log messages
- Minimal example of an execution of a simple motion:
roslaunch sample_applications sample_minimal_simulation.launch- Gazebo window to observe the executed robot motion
- Execution of a simple motion (with tooling):
roslaunch sample_applications sample_simple_simulation.launch- RViz window to see the plan and trigger the motion (press next in the RvizVisualToolGUI)
- Gazebo window to observe the executed robot motion
- rqt to show log messages
- Execution of a simple motion costraint by a blocking object:
roslaunch sample_applications sample_constraint_simulation.launch- RViz window to see the plan and trigger the motion (press next in the RvizVisualToolGUI)
- Gazebo window to observe the executed robot motion
- rqt to show log messages
- Execution of a velocity constraint cartesian trajectory:
roslaunch sample_applications simulation.launch- RViz window to see the plan and trigger the motion (press next in the RvizVisualToolGUI)
- Gazebo window to observe the executed robot motion
- rqt to show log messages