tonyrobotics/gauss_simulation

gazebo simulation for gauss6500

Gauss Manipulator Simulation Environment

Interactive Environment: Rviz

launch command:
roslaunch gauss_moveit_config demo.launch joint_states:=/joint_states

Interactive Environment: Gazebo + Rviz

OMPL Planner(default)

launch command:
roslaunch gauss_moveit_config gauss_planning_execution.launch

Pilz Command Planner

launch command:
roslaunch gauss_moveit_config gauss_planning_execution.launch pipeline:=command_planner

Interactive with Gauss by scripts

joint space and pose

launch command:
rosrun gauss_moveit_config move_group_python_interface_tutorial.py

catesian plan

launch command:
rosrun gauss_moveit_config move_group_cartesian_path_tutorial.py

Use Gauss IK Solver

launch Gauss IK Solver service:
rosrun gauss_gazebo gauss_IK_server.py

launch Gauss IK Solver test script:
rosrun gauss_gazebo gauss_IK_pose.py