Documentation Status

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_joint_movement_adapter | katana_msgs | katana_teleop | katana_trajectory_filter | katana_tutorials | kni

Package Summary

Documented

This stack contains hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

  • JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
  • simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
  • URDF descriptions (package katana_description),
  • simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
  • some demo programs (package katana_tutorials).

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_joint_movement_adapter | katana_kinect_calibration | katana_msgs | katana_teleop | katana_trajectory_filter | katana_tutorials | kni

Package Summary

Documented

This stack contains hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

  • JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
  • simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
  • URDF descriptions (package katana_description),
  • simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
  • some demo programs (package katana_tutorials).

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_ikfast_kinematics_plugin | katana_joint_movement_adapter | katana_kinect_calibration | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_trajectory_filter | katana_tutorials | kni

Package Summary

Documented

This stack contains hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

  • JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
  • simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
  • URDF descriptions (package katana_description),
  • simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
  • some demo programs (package katana_tutorials).

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

Documented

This stack contains hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

  • JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
  • simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
  • URDF descriptions (package katana_description),
  • simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
  • some demo programs (package katana_tutorials).

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Installation

For installation instructions, see uos-ros-pkg.

Running the Katana stack

You should set your Katana type as an environment variable, for example in your .bashrc/.zshrc. At the moment, only the Katana 450 6M90A and the Katana 300 6M180 (experimental) are supported. Include one of the following lines:

export KATANA_TYPE="katana_300_6m180"
export KATANA_TYPE="katana_450_6m90a"

Katana standalone

To start the Katana node for a real robot arm, run:

roslaunch katana katana.launch

If you want to run the Gazebo simulation, run:

roslaunch katana_arm_gazebo katana_arm.launch

While one of those launch files is running, you can move the arm around using the keyboard:

roslaunch katana_teleop katana_teleop_key.launch

To test if following joint trajectories work, launch the following file:

roslaunch katana_tutorials follow_joint_trajectory_client.launch

Warning: This will move the robot arm without any obstacle avoidance whatsoever, so if you run this on a physical arm, make sure the workspace of the robot is clear.

Kurtana arm navigation pipeline

The arm_navigation pipeline has to be configured individually for each robot. At Osnabrück University, we have Kurtana, a robot that consists of a Kurt base and a Katana arm. You can see an example of it running the complete arm navigation pipeline, including motion planning, inverse kinematics, collision environment etc. (kill the other gazebo launch file first):

roslaunch kurtana_gazebo kurtana_gazebo.launch
roslaunch katana_tabletop_manipulation_launch katana_tabletop_manipulation.launch
rosrun katana_manipulation_tutorials simple_pick_and_place_test

Documentation

This whole stack is being actively developed. If you use these packages and have any comments/bug reports/patches, or would like to contribute, don't hesitate to contact us!

katana.png

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Wiki: katana_driver (last edited 2013-07-17 15:58:26 by MartinGuenther)