https://github.com/stevemacenski/cyton_gamma_300-1500_operation_and_simulation
An environment for cyton gamma 300 and 1500 with MoveIt/OMPL in both simulation and hardware actuation
https://github.com/stevemacenski/cyton_gamma_300-1500_operation_and_simulation
Last synced: about 1 month ago
JSON representation
An environment for cyton gamma 300 and 1500 with MoveIt/OMPL in both simulation and hardware actuation
- Host: GitHub
- URL: https://github.com/stevemacenski/cyton_gamma_300-1500_operation_and_simulation
- Owner: SteveMacenski
- Created: 2016-03-04T15:54:39.000Z (about 9 years ago)
- Default Branch: master
- Last Pushed: 2017-06-13T17:09:52.000Z (almost 8 years ago)
- Last Synced: 2025-03-26T12:51:13.931Z (about 2 months ago)
- Language: C++
- Homepage:
- Size: 3.7 MB
- Stars: 6
- Watchers: 3
- Forks: 5
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
## cyton_gamma_hardware
Includes hardware drivers for the dynamixel motors
Syntax for hardware:
> roslaunch cyton_[gamma_300 or 1500]_controllers controller_manager.launch
> roslaunch cyton_[gamma_300 or 1500]_controllers start_controller.launch
> rosrun cyton_[gamma_300 or 1500]_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.
> rosrun cyton_gamma_pkg combined_front_end.py 2>/dev/null [300 or 1500]
> rosrun cyton_gamma_pkg command_front_end.py 2>/dev/null [300 or 1500]
> rosrun cyton_gamma_pkg feedback_front_end.py 2>/dev/null [300 or 1500]
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.