c400/cyton_gamma_300-1500_operation_and_simulation

An environment for cyton gamma 300 and 1500 with MoveIt/OMPL in both simulation and hardware actuation

cyton_gamma_hardware

Includes hardware drivers for the dynamixel motors

Syntax for hardware:

roslaunch cyton_controllers controller_manager.launch

roslaunch cyton_controllers start_controller.launch

rosrun cyton_controllers dynamixel_joint_state_publisher.py

roslaunch cyton_gamma_[1500 or 300]_moveit_config moveit_planning_execution.launch 2>/dev/null

Then, an optional front-end, either a combined front-end or the separate command and feedback ones.

python combined_front_end.py 2>/dev/null

python command_front_end.py 2>/dev/null

python feedback_front_end.py 2>/dev/null

OR Use this shell script, though currently not totally stable. If you try twice and doesn't work, go back to manual launching. Something in the dynamixel drivers doesn't make this happy. In cyton_gamma_pkg/src.

./[300-1500]_hardware_launch.sh

cyton_gamma_simulation

Syntax for Simulation:

roslaunch cyton_gamma_pkg simulation_gamma_[1500 or 300].launch

Optionally you can launch the two front-end Qt applications and they work in simulation as well!

This will start up the moveit client with RVIZ command center and simulation output in physics simulator (Gazebo was chosen for this application)

These have been tested and allow cartesian, joint space, and force control. The gripper action controller is directly commanded since the internal dynamixel controllers do a fine job on a single axis joint.

Standup.sh

standup.sh

This script will move the robot to a zero position. It's convenient for testing purposes and the same syntax can be used to command the robot directly with rostopic pub.