https://github.com/robincpc/motoman_motomini

Packages for simulating Motoman Motomini in Gazebo and RViz
https://github.com/robincpc/motoman_motomini

Last synced: 3 months ago
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Packages for simulating Motoman Motomini in Gazebo and RViz

• Host: GitHub
• URL: https://github.com/robincpc/motoman_motomini
• Owner: RobinCPC
• License: bsd-3-clause
• Created: 2019-12-30T23:18:30.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2020-01-31T08:38:15.000Z (over 6 years ago)
• Last Synced: 2025-02-08T15:46:34.285Z (over 1 year ago)
• Language: CMake
• Size: 698 KB
• Stars: 0
• Watchers: 4
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# motoman_motomini

[![Build Status](https://travis-ci.org/RobinCPC/motoman_motomini.svg?branch=master)](https://travis-ci.org/RobinCPC/motoman_motomini)

[![license - bsd 3 clause](https://img.shields.io/:license-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)

Packages for simulating Motoman Motomini in Gazebo and RViz



  

  

Click the above picture to view demo in YouTube. 

## To simulate in Gazebo with MoveIt!

``` bash

roslaunch motoman_motomini_control simulate_with_moveit.launch

```

To send joint trajectory command by rqt topic publish (/yk/target_joint_data)

``` bash

rosrun motoman_motomini_control motomini_movegroup_control

```

## To receive real/fake joint valuse from NexCOBOT mqtt_monitor and simulate with Gazebo

This is customized for the AWS robomaker demo in iREX2019. Will need more instructions.

``` bash

roslaunch mqtt_monitor mqtt_yk_monitor.launch is_sim:=true

```

Note: motoman_motomini_support is cloned from ROS-Industrial [link](https://github.com/ros-industrial/motoman/tree/kinetic-devel/motoman_motomini_support), and I add Yaskawa logo on its forth joint (for demo purpose).

In addition, currently, this package only for simulation (I remove dependecy of `motoman_driver`).