This package contains a gazebo model and controller configuration for the Rethink Robotics arm Sawyer.
- sawyer_gazebo : Simulation robot description and demo
- sawyer_control : Control configuration for Sawyer in simulation
To use these packages, install the following into your catkin workspace and catkin make
- cd ~/catkin_ws/src/
- git clone https://github.com/johodges/sawyer_gazebo
- git clone https://github.com/RethinkRobotics/sawyer_robot
- git clone https://github.com/RethinkRobotics/intera_sdk
- git clone https://github.com/RethinkRobotics/intera_common
- git clone https://github.com/RethinkRobotics/sawyer_moveit
- git clone https://github.com/johodges/husky_sawyer_moveit_config
- cd ~/catkin_ws && catkin_make
Optionally, to use the Sawyer arm with the Virginia Tech unmanned ground vehicle, TREX and/or the Clearpath Robotics Husky, install the following into your catkin workspace and catkin make
- cd ~/catkin_ws/src/
- git clone https://github.com/johodges/trex
- git clone https://github.com/johodges/husky_sawyer_moveit_config
- cd ~/catkin_ws && catkin_make
To run sawyer by itself
- roslaunch sawyer_gazebo playpen_sawyer.launch
To run the Sawyer with the TREX base
- roslaunch sawyer_gazebo playpen_trex.launch
To run the Sawyer with the Husky base
- roslaunch sawyer_gazebo playpen_husky.launch