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