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Invite-Robotics

This repository contains the integration of the CSDA10F dual-arm Motoman Robot with two 2-figer adaptive Robotiq grippers and custom sensors with ROS framework. Aiming to develop robotics applications at Invite GmbH Research Center.

Contents

• Installation Instructions
• CSDA10F Robot Moveit configuration
• Tutorials
  • Move Group Interface Tutorial Cpp
  • Modify Robot Grippers
  • Simulation Scene Objects

Release notes

v0.1.5 - Alpha release

• Update to MoveGroup Interface tutorial; New motion types included.
• Dependency updates to allow for easy rosdep commands, and easy installation

v0.1.4 - Alpha release

• Dependency updates to allow for easy rosdep commands, and easy installation

v0.1.3 - Alpha release

• New inverse kinematics solver (Track_IK) implemented for arm_left and arm_right move groups; this solver impoves heavily the planning behaviour near singulatiry points and joint limits, plus a general increase in robustness and speed - new dependency added: trac_ik_kinematics_plugin (to package invite_motoman_moveit_config)
• New tutorial added: Simulation Scene Objects; Default scene objects were pre configured for easy loading and using, see tutorial for instructions of use.
• New tutorial added: Modify Robot Grippers; With this tutorial the grippers configuration was changed (i.g. the TCP was moved)

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About The Project

This is a non-profit/collaborative project between the National University of Colombia and Invite GmbH research center, that intends to allow Invite to develope more complex/cooler task without them facing alone the already challenging ROS learning curve. In order to achieve this we are trying to set-up most required robot configurations and write/migrate examples and tutorials of common task with the CSDA10F robot.