菜单

Turtlebot3入门教程-Open-Manipulator机械臂(十九)

2018年1月15日 - Turtlebot3

Turtlebot3入门教程-Open-Manipulator机械臂

说明:

步骤:

sudo apt-get install ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbenc
h-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core
cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
cd ~/catkin_ws && catkin_make
roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch

请输入图片描述

rostopic pub /open_manipulator_chain/joint2_position/command std_msgs/Float64 "data: 1.0" --once

请输入图片描述

roslaunch open_manipulator_moveit open_manipulator_demo.launch use_gazebo:=true

请输入图片描述

请输入图片描述

rostopic pub /robotis/open_manipulator/gripper std_msgs/String "data: 'grip_on'" --once

请输入图片描述

机械臂平台:

roslaunch open_manipulator_dynamixel_ctrl dynamixel_controller.launch
roslaunch open_manipulator_moveit open_manipulator_demo.launch

请输入图片描述

请输入图片描述

请输入图片描述

请输入图片描述

Turtlebot3-waffle结合Open-Manipulator

cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/catkin_ws && catkin_make
roslaunch open_manipulator_with_tb3 open_manipulator_chain_with_tb3_rviz.launch

请输入图片描述

发表评论