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
roslaunch denso_description denso_rviz.launch
- Launch the robot into gazebo.
roslaunch vs060_gazebo vs060_gazebo.launch
- 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.
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