ROS_hack
A ROS reposity about flexible dual-arm.
Simulation
- only load Gezebo model: roslaunch bmirobot_gazebo bmirobot_two_world.launch
- load Gazebo and ros_controller: roslaunch bmirobot_gazebo bmirobot_gazebo_control.launch
- communication between Gazebo and Rviz: roslaunch bmirobot_gazebo bmirobot_gazebo_moveit.launch
- trajectory planning under Moveit Framework: video link
Gazebo and Rviz
Real System
- launch right arm: roslaunch bmirobot_hw bmirobot_zhs_right.launch
- launch dual-arm: roslaunch bmirobot_hw bmirobot_zhs_two.launch
- simutaneously launch move_group node and rviz: roslaunch bmirobot_py bmirobot_rviz.launch
- tele-operation using keyboard: rosrun bmirobot_py move_group_tele_key2.py
 Front face |
 Side face |
Tele-operation
- slave host: roslaunch omni_common omni_state.launch (ref: Geomagic 3D touch driver)
- master host: rosrun bmirobot_py ik_grasp_touch.py
- tele-operation in simulation: 知乎
- tele-operation in Gazebo: B站 tele-operation in Rviz: B站
