본 문서는 8축 로봇팔을 Gazebo, ROS, MovieIt을 이용한 시뮬레이션 과정에 대한 것으로 제2회 오로카 세미나(http://cafe.naver.com/openrt.cafe)에서 발표되었습니다.
This document represent working process for simulation 8-dof robot arm using Gazebo, ROS, MoveIt. And, this document presented on 2nd OROCA seminar in KOREA.
A presentation about how the Robotics technology comes in the market and what is the history behind it, including various types of sensors, controllers etc. What is the application of this new technology in this tech era?
A presentation about how the Robotics technology comes in the market and what is the history behind it, including various types of sensors, controllers etc. What is the application of this new technology in this tech era?
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov’s laws of robotics – dynamic stabilization of robots
Robotics is the interdisciplinary branch of engineering and science that includes mechanical engineering, electrical engineering, computer science and others.
The goal of the presentation was to give a short overview of how to run gazebo simulation for a robot written in ROS.
It is not a step-by-step guide but rather a sketch of the solution and a demo of Gazebo/ROS capabilities.
The presentation was given in August 2020 at Autonomous mobility meetup in Berlin.
Robotic Process Automation With Blue PrismSpotle.ai
Robotic Process Automation is one of the future skills designated by Nasscom. Take a deep dive into the niche field and understand the nuances of RPA with Blue Prism, a clear market leader in the segment.
Robotics is science of designing or building an application of robots. Simply ,Robotics may be defined as “The Study of Robots”. The aim of robotics is to design an efficient robot.
This is the first slide in the series on Robot Control using ROS tutorial. In this first modul, we give an introduction to the topic, including the definition of Robot, Control, ROS (Robot Operating System), and the goal of this tutorial.
You can find the tutorial on our youtube playlist: https://www.youtube.com/watch?v=yL4Rllx70vs&list=PL4T23RsIw5Qz2wDcZHZMVA33hjkzwx_Iq
Next slide: https://www.slideshare.net/jagorobotika/robot-control-using-ros-kinematic-modelling-of-mobile-robots
Slides for the MoveIt! Community Meeting (Sept. 3, 2015)
- The State of MoveIt! - Sachin Chitta (Stealth Startup)
- OMPL - Mark Moll, Lydia Kavraki (Rice University)
- ROS-Control - Adolfo Rodríguez Tsouroukdissian (PAL Robotics)
- Updates to STOMP - Jorge Nicho (SwRI)
- MoveIt! based implementation of an I-AUV - Dina Youakim (University of Girona)
- Team VIGIR at the DRC - Stefan Kohlbrecher (Technische Universität Darmstadt)
- ROS 2.0 and Manipulation - Jackie Kay (OSRF)
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov’s laws of robotics – dynamic stabilization of robots
Robotics is the interdisciplinary branch of engineering and science that includes mechanical engineering, electrical engineering, computer science and others.
The goal of the presentation was to give a short overview of how to run gazebo simulation for a robot written in ROS.
It is not a step-by-step guide but rather a sketch of the solution and a demo of Gazebo/ROS capabilities.
The presentation was given in August 2020 at Autonomous mobility meetup in Berlin.
Robotic Process Automation With Blue PrismSpotle.ai
Robotic Process Automation is one of the future skills designated by Nasscom. Take a deep dive into the niche field and understand the nuances of RPA with Blue Prism, a clear market leader in the segment.
Robotics is science of designing or building an application of robots. Simply ,Robotics may be defined as “The Study of Robots”. The aim of robotics is to design an efficient robot.
This is the first slide in the series on Robot Control using ROS tutorial. In this first modul, we give an introduction to the topic, including the definition of Robot, Control, ROS (Robot Operating System), and the goal of this tutorial.
You can find the tutorial on our youtube playlist: https://www.youtube.com/watch?v=yL4Rllx70vs&list=PL4T23RsIw5Qz2wDcZHZMVA33hjkzwx_Iq
Next slide: https://www.slideshare.net/jagorobotika/robot-control-using-ros-kinematic-modelling-of-mobile-robots
Slides for the MoveIt! Community Meeting (Sept. 3, 2015)
- The State of MoveIt! - Sachin Chitta (Stealth Startup)
- OMPL - Mark Moll, Lydia Kavraki (Rice University)
- ROS-Control - Adolfo Rodríguez Tsouroukdissian (PAL Robotics)
- Updates to STOMP - Jorge Nicho (SwRI)
- MoveIt! based implementation of an I-AUV - Dina Youakim (University of Girona)
- Team VIGIR at the DRC - Stefan Kohlbrecher (Technische Universität Darmstadt)
- ROS 2.0 and Manipulation - Jackie Kay (OSRF)
My slides for the Hands-on part of the Robotic Vision Summer School 2015 in Kioloa, Australia.
This is part of the robotics workshop, aiming to teach the participants how to program the turtlebot .
제목 : ROS with Docker
이름 : Sejin Park
소속 : 아두베리스핀 (http://arduberryspin.github.io)
아두이노와 라즈베리파이를 활용한 IOT 소모임이었던 아두베리스핀이 ROS 스터디를 시작하면서 오로카 세미나로 예습하고 도커로 환경을구축하면서 겪었던 일들을 소개하며 거인의 어깨에 서서 즐거운 로봇모임으로 성장해나가는 이야기를소개합니다.
제4회 오픈 로보틱스세미나
주 관: 한국로봇산업진흥원 & 오로카 (공동주관)
일 시: 2015년 11월 7일 토요일
This story about my robot Adam. And about that our company need money, in order to robots enslaved people in the future! This is joke of course! Robots love humans!
Iterative Visual Recognition for Learning Based Randomized Bin-pickingKensuke Harada
This paper proposes a iterative visual recognition system
for learning based randomized bin-picking. Since the configuration on randomly stacked objects while executing the current picking trial is just partially different from the configuration while executing the previous picking trial, we consider detecting the poses of objects just by using a part of visual image taken at the current picking trial where it is different from the visual image taken at the previous picking trial. By using this method, we do not need to try to detect the poses of all objects included in the pile at every picking trial.
Assuming the 3D vision sensor attached at the wrist of a manipulator, we first explain a method to determine the pose of a 3D vision sensor maximizing the visibility of randomly stacked objects. Then, we explain a method for detecting the poses of randomly stacked objects. Effectiveness of our proposed approach is confirmed by experiments using a dual-arm manipulator where a 3D vision sensor and the two-fingered hand attached at the right and the left wrists, respectively.
Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence...Kensuke Harada
In this study, we plan a sequence of the base position for dual-arm mobile manipulators performing multiple pick-and-place tasks. By using our proposed method, the robot can selectively use either the right or the left hand to pick up an object and can minimize the sequence size of the base position needed to performed the given task. We first formulate a quadratic programming (QP) problem to solve the inverse kinematics by considering robot collision. We then formulate a region on the base position where a robot can pick up an object placed anywhere in a box. A sequence of base positions is then obtained by combining the branch and bound (BB) and simulated annealing (SA) methods. We present the numerical calculation results to demonstrate the effectiveness of our proposed method.
2014 IEEE Int. Conf. on Robotics and Automation : A Manipulation Motion Plann...Kensuke Harada
In this paper, we propose a general manipulation
planner for dual-arm industrial manipulators. According to the context, the planner automatically determines whether both arms have to be used simultaneously or not. The approach is based on (i) the extension of an object placement algorithm previously developed, and (ii) the introduction of several types of re-grasping motions dedicated to dual-arm manipulators. Such motions induce a special topological structure in the manipulation space that can be captured into a manipulation graph. The graph is then used to solve the manipulation problem by a simple graph search algorithm. After searching for a solution path, we further consider optimizing the path by minimizing the number of re-grasps. The effectiveness of the approach is demonstrated on the dual-arm manipulator HiroNX working in a realistic factory environment.
Ros based programming and visualization of quadrotor helicopters 110090139 a...Atılay Mayadağ
Graduation Project
ROS Based Programming and Simulation of Quadrotors
Studying of autoflight algorithms of unmanned air vehicles on Robot Operating System while using ARDUINO Kits and providing its simulation on GAZEBO simulation program in Linux Platform.
• Used Computer Skills : Linux, ROS, Gazebo, C and C++, Microsoft Word, Excel, PowerPoint
• Gained Social Skills : Keen in details with a self-disciplined personality, love digging into new technologies, and can pick them up quickly
Presentation http://goo.gl/UCEGBV
ROS-Industrial Kuka LBR-iiwa community meetingClay Flannigan
Open community meeting focused on the Kuka LBR iiwa robot and development activities within the ROS-Industrial Community. Video here: http://youtu.be/brDMvFzdfAk
2014 IEEE Int. Symposium on System Integration (SII) : Project on Development...Kensuke Harada
This paper discusses the vision/manipulation technology where a dual-arm manipulator first picks up an object from the pile, then regrasps it from the right hand to the left hand, and finally places it to the fixture. We especially focus on the grasp/manipulation planner for a dual-arm manipulator. Here, our grasp planner is well applied for objects which can be approximated by multiple cylinders. Our pick-and-place planner can quickly find a robot motion with regrasp. We also explain our vision technology to measure the position/orientation of an object. To show the effectiveness of our proposed approach, we show an experimental result of a dual-arm manipulator.
Build tons of multi-device JavaScript applications - Part 1 : Boilerplate, de...Skilld
Build tons of multi-device JavaScript applications
Part 1 : Boilerplate, design patterns & MVC(C), high performance UI
by Jean-Baptiste Guerraz & Igor Uzlov & UA Web Forum Kiyv 2014
Introduces important facts and tools to help you get starting with performance improvement.
Learn to monitor and analyze important metrics, then you can start digging and improving.
Includes useful munin probes, predefined SQL queries to investigate your database's performance, and a top 5 of the most common performance problems in custom Apps.
By Olivier Dony - Lead Developer & Community Manager, OpenERP
Presented at Big Android BBQ 2015
Hurst Convention Center, Hurst Texas
This talk will cover Fragments in detail by comparing and contrasting them to something we know well, Activities. We will also cover examples and use cases. Fragments: Why, How, and What For? is targeted toward developers who may not have had a lot of experience using Fragments and those who want to understand them better. Why did Google introduce Fragments? Aren’t Activities enough? How do Fragments work? What For? Example and use cases such as Fragment reuse, single pane vs multi-pane, ViewPager, NavigationDrawer and DialogFragment.
So what to use when doing job outside main thread? Plain old Java thread? AsyncTask? Loader? Maybe something catchy, like RoboSpice or even rxAndroid?
Let’s dive deeply into nearly all possible ways of implementing async operations on Android. Find pros and cons, share our experience with all attitudes.
Noah Zoschke took to the Waza 2013 stage to present "Heroku Secrets". For more from Zoschke, ping him at @nzoschke. For more on Waza visit http://waza.heroku.com/2013.
For Waza videos stay tuned at http://blog.heroku.com or visit http://vimeo.com/herokuwaza
Smart TV Buyer Insights Survey 2024 by 91mobiles.pdf91mobiles
91mobiles recently conducted a Smart TV Buyer Insights Survey in which we asked over 3,000 respondents about the TV they own, aspects they look at on a new TV, and their TV buying preferences.
JMeter webinar - integration with InfluxDB and GrafanaRTTS
Watch this recorded webinar about real-time monitoring of application performance. See how to integrate Apache JMeter, the open-source leader in performance testing, with InfluxDB, the open-source time-series database, and Grafana, the open-source analytics and visualization application.
In this webinar, we will review the benefits of leveraging InfluxDB and Grafana when executing load tests and demonstrate how these tools are used to visualize performance metrics.
Length: 30 minutes
Session Overview
-------------------------------------------
During this webinar, we will cover the following topics while demonstrating the integrations of JMeter, InfluxDB and Grafana:
- What out-of-the-box solutions are available for real-time monitoring JMeter tests?
- What are the benefits of integrating InfluxDB and Grafana into the load testing stack?
- Which features are provided by Grafana?
- Demonstration of InfluxDB and Grafana using a practice web application
To view the webinar recording, go to:
https://www.rttsweb.com/jmeter-integration-webinar
Neuro-symbolic is not enough, we need neuro-*semantic*Frank van Harmelen
Neuro-symbolic (NeSy) AI is on the rise. However, simply machine learning on just any symbolic structure is not sufficient to really harvest the gains of NeSy. These will only be gained when the symbolic structures have an actual semantics. I give an operational definition of semantics as “predictable inference”.
All of this illustrated with link prediction over knowledge graphs, but the argument is general.
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
In this talk, I'll show you step-by-step how to secure your Kubernetes cluster for greater peace of mind and reliability.
Kubernetes & AI - Beauty and the Beast !?! @KCD Istanbul 2024Tobias Schneck
As AI technology is pushing into IT I was wondering myself, as an “infrastructure container kubernetes guy”, how get this fancy AI technology get managed from an infrastructure operational view? Is it possible to apply our lovely cloud native principals as well? What benefit’s both technologies could bring to each other?
Let me take this questions and provide you a short journey through existing deployment models and use cases for AI software. On practical examples, we discuss what cloud/on-premise strategy we may need for applying it to our own infrastructure to get it to work from an enterprise perspective. I want to give an overview about infrastructure requirements and technologies, what could be beneficial or limiting your AI use cases in an enterprise environment. An interactive Demo will give you some insides, what approaches I got already working for real.
Key Trends Shaping the Future of Infrastructure.pdfCheryl Hung
Keynote at DIGIT West Expo, Glasgow on 29 May 2024.
Cheryl Hung, ochery.com
Sr Director, Infrastructure Ecosystem, Arm.
The key trends across hardware, cloud and open-source; exploring how these areas are likely to mature and develop over the short and long-term, and then considering how organisations can position themselves to adapt and thrive.
Builder.ai Founder Sachin Dev Duggal's Strategic Approach to Create an Innova...Ramesh Iyer
In today's fast-changing business world, Companies that adapt and embrace new ideas often need help to keep up with the competition. However, fostering a culture of innovation takes much work. It takes vision, leadership and willingness to take risks in the right proportion. Sachin Dev Duggal, co-founder of Builder.ai, has perfected the art of this balance, creating a company culture where creativity and growth are nurtured at each stage.
Software Delivery At the Speed of AI: Inflectra Invests In AI-Powered QualityInflectra
In this insightful webinar, Inflectra explores how artificial intelligence (AI) is transforming software development and testing. Discover how AI-powered tools are revolutionizing every stage of the software development lifecycle (SDLC), from design and prototyping to testing, deployment, and monitoring.
Learn about:
• The Future of Testing: How AI is shifting testing towards verification, analysis, and higher-level skills, while reducing repetitive tasks.
• Test Automation: How AI-powered test case generation, optimization, and self-healing tests are making testing more efficient and effective.
• Visual Testing: Explore the emerging capabilities of AI in visual testing and how it's set to revolutionize UI verification.
• Inflectra's AI Solutions: See demonstrations of Inflectra's cutting-edge AI tools like the ChatGPT plugin and Azure Open AI platform, designed to streamline your testing process.
Whether you're a developer, tester, or QA professional, this webinar will give you valuable insights into how AI is shaping the future of software delivery.
LF Energy Webinar: Electrical Grid Modelling and Simulation Through PowSyBl -...DanBrown980551
Do you want to learn how to model and simulate an electrical network from scratch in under an hour?
Then welcome to this PowSyBl workshop, hosted by Rte, the French Transmission System Operator (TSO)!
During the webinar, you will discover the PowSyBl ecosystem as well as handle and study an electrical network through an interactive Python notebook.
PowSyBl is an open source project hosted by LF Energy, which offers a comprehensive set of features for electrical grid modelling and simulation. Among other advanced features, PowSyBl provides:
- A fully editable and extendable library for grid component modelling;
- Visualization tools to display your network;
- Grid simulation tools, such as power flows, security analyses (with or without remedial actions) and sensitivity analyses;
The framework is mostly written in Java, with a Python binding so that Python developers can access PowSyBl functionalities as well.
What you will learn during the webinar:
- For beginners: discover PowSyBl's functionalities through a quick general presentation and the notebook, without needing any expert coding skills;
- For advanced developers: master the skills to efficiently apply PowSyBl functionalities to your real-world scenarios.
Transcript: Selling digital books in 2024: Insights from industry leaders - T...BookNet Canada
The publishing industry has been selling digital audiobooks and ebooks for over a decade and has found its groove. What’s changed? What has stayed the same? Where do we go from here? Join a group of leading sales peers from across the industry for a conversation about the lessons learned since the popularization of digital books, best practices, digital book supply chain management, and more.
Link to video recording: https://bnctechforum.ca/sessions/selling-digital-books-in-2024-insights-from-industry-leaders/
Presented by BookNet Canada on May 28, 2024, with support from the Department of Canadian Heritage.
Connector Corner: Automate dynamic content and events by pushing a buttonDianaGray10
Here is something new! In our next Connector Corner webinar, we will demonstrate how you can use a single workflow to:
Create a campaign using Mailchimp with merge tags/fields
Send an interactive Slack channel message (using buttons)
Have the message received by managers and peers along with a test email for review
But there’s more:
In a second workflow supporting the same use case, you’ll see:
Your campaign sent to target colleagues for approval
If the “Approve” button is clicked, a Jira/Zendesk ticket is created for the marketing design team
But—if the “Reject” button is pushed, colleagues will be alerted via Slack message
Join us to learn more about this new, human-in-the-loop capability, brought to you by Integration Service connectors.
And...
Speakers:
Akshay Agnihotri, Product Manager
Charlie Greenberg, Host
State of ICS and IoT Cyber Threat Landscape Report 2024 previewPrayukth K V
The IoT and OT threat landscape report has been prepared by the Threat Research Team at Sectrio using data from Sectrio, cyber threat intelligence farming facilities spread across over 85 cities around the world. In addition, Sectrio also runs AI-based advanced threat and payload engagement facilities that serve as sinks to attract and engage sophisticated threat actors, and newer malware including new variants and latent threats that are at an earlier stage of development.
The latest edition of the OT/ICS and IoT security Threat Landscape Report 2024 also covers:
State of global ICS asset and network exposure
Sectoral targets and attacks as well as the cost of ransom
Global APT activity, AI usage, actor and tactic profiles, and implications
Rise in volumes of AI-powered cyberattacks
Major cyber events in 2024
Malware and malicious payload trends
Cyberattack types and targets
Vulnerability exploit attempts on CVEs
Attacks on counties – USA
Expansion of bot farms – how, where, and why
In-depth analysis of the cyber threat landscape across North America, South America, Europe, APAC, and the Middle East
Why are attacks on smart factories rising?
Cyber risk predictions
Axis of attacks – Europe
Systemic attacks in the Middle East
Download the full report from here:
https://sectrio.com/resources/ot-threat-landscape-reports/sectrio-releases-ot-ics-and-iot-security-threat-landscape-report-2024/
7. Robot
고기능 작업용 팔
항목 설명
재원
길이: 670.73mm
무게: 7.63kg
자유도
8 DoF
(어깨 4, 팔꿈치 1, 손목 3)
가반하중 3.0kg
종단속도 0.6m/s
통신 CAN
전원 24V
제어방식 위치, 속도, 전류제어
- 어깨와 몸통 사이의 자유도 구현 (총 8자유도)
- 외력 반응성 (Backdrivablity) 향상을 위한 저기어비 설계 (100/1)
- 타이밍 벨트 및 풀리에서 생기는 마찰 및 손실 방지를 위해 모터/기어 직결모듈 방식
- 각 관절의 절대위치 인식 (엡솔루트 엔코더)
- 토크 제어 (전류제어)
- 외부와 접촉 시 접촉 힘 측정 및 대응 (F/T 센서 장착시)
- 중공형 기어, 모터, 엔코더 사용로봇산업원천기술개발사업 - 로봇 H/W플랫폼기술 개발 (2009. 06 ~ 2011.05)
Specification
Characteristic
8. Part별
Mass(kg)
Inertia Tensor
Center of Mass
Separate
Parts
(Link)
Part별
COLLADA 파일
or STL
Joint 정보
회전축, 한계값
최대속도 등
알아내야 할 것들
COLLADA.org - https://collada.org
http://ko.wikipedia.org/wiki/관성_모멘트
9. Mass(kg)
Inertia Tensor
Center of Mass
설계한 사람한테 물어보기
어떻게 구하나?
직접 구하기(근사치)
MeshLab
- Find out inertial parameters: http://gazebosim.org/tutorials?tut=inertia&cat=
Menu > Filters > Quality Measure and Computations Compute > Geometric Measures
Mesh Bounding Box Size 115.100006 83.000015 85.500000
Mesh Bounding Box Diag 165.672150
Mesh Volume is 223733.125000
Mesh Surface is 126935.031250
Thin shell barycenter 14.123314 -0.036923 8.072087
Center of Mass is 8.950365 0.008595 7.867443
Inertia Tensor is :
| 252065328.000000 150681.546875 -32695376.000000 |
| 150681.546875 417160000.000000 -490.519348 |
| -32695376.000000 -490.519348 423229216.000000 |
Principal axes are :
| -0.983400 0.000865 -0.181451 |
| -0.000434 -0.999997 -0.002418 |
| -0.181453 -0.002299 0.983397 |
axis momenta are :
| 246032432.000000 417160032.000000 429262048.000000 |
14. URDF : URDF Tutorial - http://wiki.ros.org/urdf/Tutorials
- Build up your own robot models, sensors, scenes, etc.
- XML format for representing a robot model
18. <geometry> (required)
▪ The shape of the visual object. This can be one of the following:
▪ <box>
▪ size attribute contains the three side lengths of the box. The origin of the box is in its center.
▪ <cylinder>
▪ Specify the radius and length. The origin of the cylinder is in its center.
▪ <sphere>
▪ Specify the radius. The origin of the sphere is in its center.
▪ <mesh>
▪ A trimesh element specified by a filename, and an optional scale that scales the mesh's axis-
aligned-bounding-box. The recommended format for best texture and color support is
Collada .dae files, though .stl files are also supported. The mesh file is not transferred between
machines referencing the same model. It must be a local file.
19. http://wiki.ros.org/urdf/XML/jointJoint
<joint name="my_joint" type="floating">
<origin xyz="0 0 1" rpy="0 0 3.1416"/>
<parent link="link1"/>
<child link="link2"/>
<calibration rising="0.0"/>
<dynamics damping="0.0" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-2.2" upper="0.7" />
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
</joint>
▪ revolute - a hinge joint that rotates along the axis and has a limited range specified by the upper and
lower limits.
▪ continuous - a continuous hinge joint that rotates around the axis and has no upper and lower limits
▪ prismatic - a sliding joint that slides along the axis, and has a limited range specified by the upper and
lower limits.
▪ fixed - This is not really a joint because it cannot move. All degrees of freedom are locked. This type of
joint does not require the axis, calibration, dynamics, limits or safety_controller.
▪ floating - This joint allows motion for all 6 degrees of freedom.
▪ planar - This joint allows motion in a plane perpendicular to the axis.
21. http://wiki.ros.org/urdf/XML/GazeboGazebo
The gazebo element is an extension to the URDF robot description format, used for simulation purposes in the Gazebo simulator.
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/safe_arm</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
The default behavior provides the following ros_control interfaces:
▪ hardware_interface::JointStateInterface
▪ hardware_interface::EffortJointInterface
22. http://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URD
http://wiki.ros.org/xacroXacro
URDF 등의 XML을 작성할때 유용하게 사용할수 있는 패키지. Macro, Property, Math, Conditional 등의 기능을 지원함
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="safe_arm">
<xacro:include filename="$(find safe_arm_description)/urdf/visuals.xacro" />
<xacro:include filename="$(find safe_arm_description)/urdf/safe_arm_v1_limits.xacro" />
<xacro:include filename="$(find safe_arm_description)/urdf/safe_arm_v1_structure.urdf.xacro" />
<xacro:include filename="$(find safe_arm_description)/urdf/safe_arm_v1.transmission.xacro" />
<xacro:include filename="$(find safe_arm_description)/urdf/safe_arm_v1.gazebo.xacro" />
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link" />
<link name="torso" />
<joint name="base_joint" type="fixed">
<origin xyz="0 0 1.0" rpy="0 0 0" />
<parent link="base_link" />
<child link="torso" />
</joint>
<!-- Attatch Left and Right Safe Arm to Torso Link -->
<xacro:safe_arm side="l" reflect="1" parent="torso" />
<xacro:safe_arm side="r" reflect="-1" parent="torso" />
</robot>
39. ➔ Lower entry barrier for exposing HW to ROS
➔ Promote reuse of control code
➔ Provide ready-to-use tools
➔ Real-time ready implementation
Adolfo Rodríguez Tsouroukdissian, “ros_control: An overview”, ROSCon 2014
☐ Goal
➔ pr2_controller_manager (2009)
- developed mainly by Willow Garage (WG)
- PR2-specific
➔ ros_control (late 2012)
- started by hiDOF, in collaboration with WG
- continuedbyPALRoboticsandcommunity
- robot-agnostic version of the pr2_controller_manager
☐ History
51. MoveIt MoveIt! is state of the art software for mobile manipulation, incorporating the latest advances in
motion planning, manipulation, 3D perception, kinematics, control and navigation
http://www.youtube.com/watch?v=dblCGZzeUqs