Synopsis

ROS packages for the Mitsubishi PA10 7-DOF Arm developed by Control Systems Lab, National Technical University of Athens. The package contains the configuration and description files for the static manipulator and for multiple cooperative manipulators.

Dependences

• ROS Packages:
  • MoveIt ROS
  • joint state publisher
  • robot state publisher
  • joint limits interface
  • xacro
  • ros_control
  • controller_manager
  • gazebo ros control

Installation

$ roscd && cd ../src
$ git clone https://github.com/mlogoth/PA10.git
$ cd .. && catkin_make

Gazebo

For single robot gazebo simulation:

roslaunch pa10_gazebo pa10.launch

Gazebo + MoveIt

To run the Gazebo + Pa10 Controllers + MoveIt :

roslaunch pa10_gazebo pa10_moveit.launch rviz:=true

Set the argument rviz := true to launch RViz.

Multiple Robots

To launch multiple static manipulators on Gazebo run the following:

roslaunch pa10_gazebo pa10_multi.launch

If you like to simulate the robots as they are rigidly connected with an object

roslaunch pa10_gazebo pa10_multi.launch cooperative:="true"

Then you can choose between 2 or 3 agents and box or cylinder object

roslaunch pa10_gazebo pa10_multi.launch cooperative:="true" object_type:="box|cylinder" agents:="2|3"