Documentation Status

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denso: denso_controller | denso_launch | vs060 | vs060_moveit_config

Package Summary

Released Continuous integration Documented

Although the package name might indicate that it only could only contain generic .launch files, this package functions as a center location for storing .launch files for all DENSO robots (currently vs060).

denso: denso_controller | denso_launch | vs060 | vs060_gazebo | vs060_moveit_config

Package Summary

Released Continuous integration Documented

Although the package name might indicate that it only could only contain generic .launch files, this package functions as a center location for storing .launch files for all DENSO robots (currently vs060).

Cannot load information on name: denso_launch, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
denso: denso_launch | denso_ros_control | vs060 | vs060_gazebo | vs060_moveit_config

Package Summary

Released Continuous integration Documented

Although the package name might indicate that it only could only contain generic .launch files, this package functions as a center location for storing .launch files for all DENSO robots (currently vs060).

Cannot load information on name: denso_launch, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

How to run

Running Denso's VS060 in a simple world

First, if you run it for the first time, install prerequisite.

$ rosdep install vs060
$ ros-$YOUR_ROSDISTRO$-moveit-ros-visualization  (may not be necessary)

You can run VS060 manipulator on RViz by the following:

$ roslaunch denso_launch denso_vs060_moveit_demo_simulation.launch 

Then you can plan the arm's pose by using Interactive Markers, then actually move it to there by hitting Plan & Execute on MoveIt!'s RViz plugin.

vs060_rviz_launch_1.png vs060_rviz_launch_2.png

You can simulate object avoidance too by placing objects in RViz. Here for example with tabletop.

vs060_rviz_moveit_objectAvoidance.png

Youtube example:

VS060 in iREX 2013 demo

You can run it on RViz by:

$ roslaunch vs060_moveit_config demo_simulation_cage.launch

You'll see VS060 sitting in a bit more restricted situation. vs060_irex_rviz.png

The actual robot is moving in the same but real environment:

VS060 integrated with vision (xtion)

Using Web Operator

Using rwt_moveit (package work in progress here) you can operate this robot via WebGL-enabled web browsers. denso/rwt_moveit_denso_1.png rwt_moveit_obstacle_1.png

Using Cartesian Path Planner Plug-In

Cartesian Path Planner Plug-In from ROS-Industrial.

Wiki: denso_launch (last edited 2015-03-03 06:31:51 by IsaacSaito)