This repository contains the integration of the CSDA10F dual-arm Motoman Robot with two 2-figer adaptive Robotiq grippers and custom sensors with ROS framework. Aiming to develop robotics applications at Invite GmbH Research Center.
- Installation Instructions
- CSDA10F Robot Moveit configuration
- Robot URDF configuration
- Tutorials
- Release notes
- Notes for safety operation
For further information please see the repository Wiki.
This is a non-profit/collaborative project between the National University of Colombia and Invite GmbH research center, that intends to allow Invite to develope more complex/cooler task without them facing alone the already challenging ROS learning curve. In order to achieve this we are trying to set-up most required robot configurations and write/migrate examples and tutorials of common task with the CSDA10F robot.
| Function | Status |
|---|---|
| MoveIt! Configuration | Supported |
| CSDA10F support package | Supported |
| Configuration files for real robot operation | Supported |
| MoveGroupInterface tutorial with CSDA10F | Supported |
| TRAC-IK Integration for most move groups | Supported |
| Motion planning with 15 DoF | Supported |
| Motion execution of 15 DoF at a time | Supported |
| Gazebo robot simulation | Supported |
| Gazebo grippers simulation | In progress |
| Grippers control through ROS control | Supported |