duth-lra / custom_robot

2-finger custom robot

This package contains a custom robot moving in 2D with a 2-finger gripper for some tests.

Dependencies:

• Gazebo MimicJointPlugin
• Gazebo contact_republisher
• Robotiq gripper package

After installation launch the basic environment using the following command:

roslaunch custom_robot pr_robot.launch

In order to use the contact sensor, install the gazebo_contact_republisher package and run in a new command line:

rosrun contact_republisher contact_republisher_node

The code scripts/contact_msg_counter.py transforms the gazebo contact message to a "custom" ros message.