<> <> == How to run == ##begin_howto_roslaunch_vs060 === 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|VS060]] manipulator on [[rviz|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|Interactive Markers]], then actually move it to there by hitting `Plan & Execute` on [[moveit|MoveIt!]]'s `RViz` plugin. {{attachment:vs060_rviz_launch_1.png||width=75%}} {{attachment:vs060_rviz_launch_2.png||width=75%}} You can simulate object avoidance too by placing objects in `RViz`. Here for example with [[https://github.com/isucan/plannerarena/blob/master/problems/pr2_scenes/tabletop.scene|tabletop]]. {{attachment:vs060_rviz_moveit_objectAvoidance.png||width=75%}} 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. {{attachment:vs060_irex_rviz.png||width=75%}} 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 [[https://github.com/tork-a/visualization_rwt/pull/45/files|here]]) you can operate this robot via `WebGL`-enabled web browsers. {{attachment:denso/rwt_moveit_denso_1.png||width=85%}} {{attachment:rwt_moveit_obstacle_1.png||width=75%}} === Using Cartesian Path Planner Plug-In === [[http://rosindustrial.org/news/2014/9/5/cartesian-path-planner-plug-in-for-moveit|Cartesian Path Planner Plug-In from ROS-Industrial]]. <> ##end_howto_roslaunch_vs060 ## AUTOGENERATED DON'T DELETE ## CategoryPackage