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blue_arm's Introduction

Blue Arm

Setup

Install some packages

sudo apt-get install ros-$ROS_DISTRO-moveit
sudo apt-get install ros-$ROS_DISTRO-joint-state-controller
sudo apt-get install ros-$ROS_DISTRO-joint-state-publisher
sudo apt-get install ros-$ROS_DISTRO-joint-trajectory-controller
sudo apt-get install ros-$ROS_DISTRO-position-controllers
sudo apt-get install ros-$ROS_DISTRO-velocity-controllers
sudo apt-get install ros-$ROS_DISTRO-effort-controllers

Fork and clone the repository, then install the maxon epos2 driver by running:

cd blue_arm/maxon_epos2/EPOS_Linux_Library/
./install.sh
cd $CATKIN_WS
catkin_make

Run this program

Run with Gazebo
```sh
roslaunch blue_arm_moveit demo_gazebo.launch
```
Run with real robot
```sh
roslaunch manipulator manipulator_maxon.launch
roslaunch blue_arm_moveit demo.launch
```

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