Only released in EOL distros:  

iri_wam: iri_bhand | iri_bhand_description | iri_bhand_simulator | iri_wam_arm_navigation | iri_wam_base | iri_wam_bringup | iri_wam_cartesian_planning | iri_wam_common_msgs | iri_wam_controller | iri_wam_description | iri_wam_dmp_tracker | iri_wam_ik | iri_wam_move_arm | iri_wam_simulator | iri_wam_tcp_ik | iri_wam_tutorial | iri_wam_wrapper

Package Summary

This packages is a move_arm package wrapper (from the arm navigation stack). It is designed to work together with the iri_wam_navigation package. It can work with different WAM's tools only specifying the measures in the X-axis, Y-axis and Z-axis of the tools, without the need of a mesh file of the tool.


IRI_WAM_MOVE_ARM provides the modified move_arm source. In this code, is possible define timestamp to path. Also calculates velocity and acceleration with respect to this time

External Documentation

For a complete documentation, please visit the IRI ROS WAM page.


Bug reporting instructions and feedback mail address can be found at IRI Robotics Lab support page

Wiki: iri_wam_move_arm (last edited 2012-03-12 10:57:09 by Ivan Rojas)