dual-arm-kortex-ros

dual arm kortex ros

Note: You may need to install dependancies first. See below.

Steps to run the setup: 1.) catkin_make the workspace

cd dual_arm_Kortex_ros_ws/
catkin_make
source devel/setup.sh

2.) Run Gazebo simulator and controllers from directory dual_arm_Kortex_ros_ws/

source devel/setup.sh
roslaunch kortex_two_arms gazebo_move_grp.launch 

3.) Run Move group node in new terminal from directory dual_arm_Kortex_ros_ws/

source devel/setup.sh
rosrun kortex_two_arms move_grp.py 

Image Topic names

/cam/camera/image_raw
/cam/camera1/image_raw1

Dependancy installation steps for Ubuntu 16.04/ROS Kinetic

1.) Install moveit package:

sudo apt-get install ros-kinetic-moveit

2.) Install this kinematics package:

sudo apt-get install ros-kinetic-trac-ik-kinematics-plugin

3.) Install these controller packages:

sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-joint-trajectory-controller
sudo apt-get install ros-kinetic-joint-state-controller