mahsap / gazebo_ros_denso

gazebo_ros_denso

A Denso package in Gazebo and Rviz.

##Introduction The aim of this package is to provide a simulated environment for Visual Servoing purpose. As you run the code, you will see a camera attached to the the robot end-effector (flange).

##Dependencies Please make sure that all the dependencies are up to date

sudo apt-get update

Install ros_control from debian packages

sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

How to run it on Rviz

roslaunch denso_description denso_rviz.launch

How to run it on Gazebo

1. Launch the robot into gazebo.

roslaunch vs060_gazebo vs060_gazebo.launch

2. If you want to command the robot and see the performance, you can run the following line

roslaunch vs060_gazebo vs060_rqt.launch

You can command each joint seperately. Simply mark the joint on the right-side of the following figure. To see the changes of the signals you can change the tabe according to the joint number from the below sidbar, as the highlighed circle shows. By selecting all the commands from the right-side of the previous picture (where all joints are commanded to 1 rad), you will see the following picture.

How to see the camera window

If you want to see the image of the camera, open a new terminal and run the following

rosrun image_view image_view image:=/vs060/camera/image_raw

gazebo_ros_denso's Issues

Images for README

Why not collaborate?

Hi I just found this repo (linked from answers.ros) and noticed that the model files in your repository are identical to those in our repo; (we worked with the manufacturer, Densowave, and obtained models from them). I don't know if you copied from there but since our package is licensed under BSD copying for your purpose is legitimate :).

Anyways, since it looks like we're working on the same robot why don't we use a single repository, instead of duplicating the code? That way you could get more testers, reviewers, and maybe even more features in the future (e.g. we just merged Gazebo feature start-jsk/denso#52). Currently we don't really have an active project regarding this robot but we're always watching over the repository and responsive enough for the inquiries. Again this is just a suggestion. Thanks!