Running the simulation

Usage

List of available programs (launch files) to run:

  1. Testing some simple trajectories with the tool already attached to robot.

roslaunch main program1.launch
rosrun kuka_barrett robot_planner1

  1. main program2.launch : Simple pick and place example program

  2. (Discontinued) roslaunch kuka_barrett_control computed_torque_controller_test.launch

To run program 1, run in a sourced terminal roslaunch main program1.launch This will run a gazebo simulator with robot, tables and tools, RViz with Moveit plugins and camera views and an OpenCV Node.

Convenience scripts

  • rosrun main iiwa_home.sh move iiwa arm to home position

  • rosrun main barrett_home.sh move Barrett hand to home position