<> {{{#!wiki version indigo [[https://travis-ci.org/uos/katana_driver|{{https://travis-ci.org/uos/katana_driver.svg?branch=indigo_catkin|build status|align="left"}}|target="_blank"]] }}} {{{#!wiki version jade [[https://travis-ci.org/uos/katana_driver|{{https://travis-ci.org/uos/katana_driver.svg?branch=jade|build status|align="left"}}|target="_blank"]] }}} == Installation == This package is released as binaries, so you can just type: {{{ sudo apt-get install ros-$ROS_DISTRO-katana-driver }}} == 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 (only on real arm, not in Gazebo): {{{ 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. === Katana + MoveIt! === MoveIt has to be configured individually for each robot. At Osnabrück University, we have Calvin, a robot that consists of a Volksbot base and a Katana arm. You can see instructions how to run the full MoveIt stack in Gazebo, including motion planning, inverse kinematics, collision environment etc. on the [[calvin_robot]] wiki page. == 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! {{attachment:katana.png}} == Report a Bug == <> ## AUTOGENERATED DON'T DELETE ## CategoryStack