Only released in EOL distros:
katana_manipulation: katana_kinematics_constraint_aware | katana_manipulation_tutorials | katana_object_manipulation_launch | katana_openrave_grasp_planner | katana_openrave_test | katana_simple_grasp_planner | katana_tabletop_manipulation_launch
Package Summary
Documented
katana_manipulation_tutorials
- Author: Martin Günther
- License: BSD
- Source: git http://kos.informatik.uni-osnabrueck.de/katana_manipulation.git (branch: master)
katana_manipulation: katana_manipulation_tutorials | katana_object_manipulation_launch | katana_simple_grasp_planner | katana_tabletop_manipulation_launch
Package Summary
Documented
katana_manipulation_tutorials
- Author: Martin Günther
- License: BSD
- Source: git https://github.com/uos/katana_manipulation.git (branch: fuerte)
simple_pick_and_place_test
See katana_driver.
get_fk / get_ik
clone fixed version of arm_navigation (in the official Fuerte version, the kinematics services don't work):
git clone -b fix_kinematics_services_fuerte https://github.com/uos/arm_navigation.git rosmake arm_navigation # for this to work, the directory you just cloned needs to be on the ROS_PACKAGE_PATH *before* /opt/ros/fuerte/...
launch prerequisites:
roslaunch kurtana_gazebo kurtana_gazebo.launch roslaunch kurtana_arm_navigation kurtana_arm_navigation.launch
run tests:
rosrun katana_manipulation_tutorials get_fk rosrun katana_manipulation_tutorials get_ik
alternatively, run get_fk from the command line:
rosservice call /kurtana_arm_kinematics/get_fk '{header: {frame_id: "katana_base_link"}, fk_link_names: ["katana_motor5_wrist_roll_link"], robot_state: {joint_state: {name: ["katana_motor1_pan_joint", "katana_motor2_lift_joint", "katana_motor3_lift_joint", "katana_motor4_lift_joint", "katana_motor5_wrist_roll_joint"], position: [0.0, 0.0, 0.0, 0.0, 0.0]}} }'