motoman_apps

Installation

1. Clone this repository.

$ cd <catkin_ws>/src
$ git clone https://github.com/ntl-ros-pkg/motoman_apps.git

2. Run install script

$ cd <catkin_ws>/src/motoman_apps
$ sh install.sh

Applications

Moveit

MotoMINI

$ roslaunch motoman_moveit_apps motomini_with_gripper_moveit_gazebo_autorun.launch

SIA5

$ roslaunch motoman_moveit_apps sia5_with_dhand_moveit_gazebo_autorun.launch

MotoMINI Mathworks Demo

Function Options

With gazebo grasp fix plugin

$ roslaunch motoman_mathworks_apps motomini_picking_demo_gazebo_autorun.launch load_grasp_fix:=true

Object Options

With coke ball

$ roslaunch motoman_mathworks_apps motomini_picking_demo_gazebo_autorun.launch

With parts

$ roslaunch motoman_mathworks_apps motomini_picking_demo_gazebo_autorun.launch world:=motomini_with_table_parts

With coke cans

$ roslaunch motoman_mathworks_apps motomini_picking_demo_gazebo_autorun.launch world:=motomini_with_table_coke