Package Summary

This stack contains kinematics, motion planning and grasp planning for the Katana arm. Specifically:

• configuration files for the arm_navigation pipeline (package katana_arm_navigation),
• constraint-aware forward and inverse kinematics (package katana_kinematics_constraint_aware),
• an interpolated IK motion planner (package katana_interpolated_ik_motion_planner),
• a grasp planner based on OpenRAVE (package katana_openrave_grasp_planner),
• core functionality for pickup and place tasks (packages katana_object_manipulator, katana_object_manipulation_launch),
• a collision map for tabletop manipulation (package katana_tabletop_collision_map_processing),
• test programs for move_arm, constraint aware IK and Gripper controller (packages katana_openrave_test, katana_openloop_grasping), and
• the top-level launch files for the whole stack (package katana_tabletop_manipulation_launch).

This stack only runs under ROS Diamondback at the moment.

• Author: Maintained by Martin Günther, Henning Deeken
• License: GPL
• Source: git http://kos.informatik.uni-osnabrueck.de/katana_manipulation.git (branch: master)