<> <> == Overview == This package is part of the [[aubo_robot]] program. == Getting Started == {{{#!wiki caution Be sure to install the `moveit_simple_controller_manager` package in addition to those mentioned below. }}} To simulate a AUBO-i5 and control it in simulation, first install the necessary packages: {{{ $ sudo apt-get install \ ros-indigo-aubo-gazebo \ ros-indigo-aubo-i5-moveit-config \ }}} To launch the simulated arm and a controller for it, run: {{{ $ roslaunch aubo_gazebo aubo_i5.launch }}} and in another terminal: {{{ $ roslaunch aubo_i5_moveit_config aubo_i5_moveit_planning_execution.launch sim:=true }}} To control the simulated arm from RViz, also run: {{{ $ roslaunch aubo_i5_moveit_config moveit_rviz.launch config:=true }}} You should now be able to drag the end effector goal to create a plan for the simulated arm to execute. {{attachment:aubo_robot/aubo_i5-plan.png}} == Additional information == See also the sections ''Usage with Gazebo Simulation'' and ''!MoveIt! with a simulated robot'' in the [[https://github.com/auboliuxin/aubo_robot/blob/master/README.md|readme]] on Github.