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README.md

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    README.md 1.07 KiB

    A Complete Panda Gazebo Workspace

    Remark: The state outside of the master branch must be considered as "work-in-progress". Only the master branch is stable here.

    Requirements

    • Ubuntu 18.4
    • ROS Melodic

    Installation

    • clone the repo git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git
    • change into the workspace cd panda_gazebo_workspace
    • install ROS package dependencies rosdep install --from-paths .
    • build the workspace catkin build
    • source the config: depending on your shell
      • source devel/setup.bash (default)
      • source devel/setup.sh
      • source devel/setup.zsh

    Simulations

    • For planning and simulation based on rviz: roslaunch panda_simulation simulation.launch
    • Execution of a simple motion: roslaunch sample_applications sample_simple_simulation.launch
    • Execution of a simple motion costraint by a blocking object: roslaunch sample_applications sample_constraint_simulation.launch
    • Execution of a velocity constraint cartesian trajectory: roslaunch sample_applications simulation.launch