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denso: denso_controller | denso_launch | vs060 | vs060_moveit_config

Package Summary

This package provides ORiN-based controller functionality for VS060, a Denso's virtical multi-joint robot.

denso: denso_controller | denso_launch | vs060 | vs060_gazebo | vs060_moveit_config

Package Summary

This package provides ORiN-based controller functionality for VS060, a Denso's virtical multi-joint robot.

denso: denso_launch | denso_ros_control | vs060 | vs060_gazebo | vs060_moveit_config

Package Summary

This package provides ORiN-based controller functionality for VS060, a Denso's virtical multi-joint robot.

Experimental

EXPERIMENTAL: This status indicates that this software is experimental code at best. There are known issues and missing functionality. The APIs are completely unstable and likely to change. Use in production systems is not recommended. All code starts at this level. For more information see the ROS-Industrial software status page.

denso_moveit.jpg

Usage

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 manipulator on 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, then actually move it to there by hitting Plan & Execute on MoveIt!'s RViz plugin.

vs060_rviz_launch_1.png vs060_rviz_launch_2.png

You can simulate object avoidance too by placing objects in RViz. Here for example with tabletop.

vs060_rviz_moveit_objectAvoidance.png

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. vs060_irex_rviz.png

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 here) you can operate this robot via WebGL-enabled web browsers. denso/rwt_moveit_denso_1.png rwt_moveit_obstacle_1.png

Using Cartesian Path Planner Plug-In

Cartesian Path Planner Plug-In from ROS-Industrial.

Module Relationship

https://docs.google.com/drawings/d/1-AcMxG_kE2yUP-11OwdutZuTR2hOF0DUjF5nnitHhNs/pub?w=909&h=634

  • Fig. (click to magnify) Software components diagram for DENSO robot.

Wiki: vs060 (last edited 2014-04-29 07:25:22 by IsaacSaito)