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  Show EOL distros: 

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_joint_movement_adapter | katana_msgs | katana_teleop | katana_trajectory_filter | katana_tutorials | kni

Package Summary

This stack contains hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

  • JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
  • simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
  • URDF descriptions (package katana_description),
  • simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
  • some demo programs (package katana_tutorials).

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_joint_movement_adapter | katana_kinect_calibration | katana_msgs | katana_teleop | katana_trajectory_filter | katana_tutorials | kni

Package Summary

This stack contains hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

  • JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
  • simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
  • URDF descriptions (package katana_description),
  • simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
  • some demo programs (package katana_tutorials).

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_ikfast_kinematics_plugin | katana_joint_movement_adapter | katana_kinect_calibration | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_trajectory_filter | katana_tutorials | kni

Package Summary

This stack contains hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

  • JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
  • simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
  • URDF descriptions (package katana_description),
  • simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
  • some demo programs (package katana_tutorials).

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.

katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_moveit_ikfast_plugin | katana_msgs | katana_teleop | katana_tutorials | kni

Package Summary

This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.

build status

build status

Installation

This package is released as binaries, so you can just type:

sudo apt-get install ros-$ROS_DISTRO-katana-driver

Running the Katana stack

You should set your Katana type as an environment variable, for example in your .bashrc/.zshrc. At the moment, only the Katana 450 6M90A and the Katana 300 6M180 (experimental) are supported. Include one of the following lines:

export KATANA_TYPE="katana_300_6m180"
export KATANA_TYPE="katana_450_6m90a"

Katana standalone

To start the Katana node for a real robot arm, run:

roslaunch katana katana.launch

If you want to run the Gazebo simulation, run:

roslaunch katana_arm_gazebo katana_arm.launch

While one of those launch files is running, you can move the arm around using the keyboard (only on real arm, not in Gazebo):

roslaunch katana_teleop katana_teleop_key.launch

To test if following joint trajectories work, launch the following file:

roslaunch katana_tutorials follow_joint_trajectory_client.launch

Warning: This will move the robot arm without any obstacle avoidance whatsoever, so if you run this on a physical arm, make sure the workspace of the robot is clear.

Katana + MoveIt!

MoveIt has to be configured individually for each robot. At Osnabrück University, we have Calvin, a robot that consists of a Volksbot base and a Katana arm. You can see instructions how to run the full MoveIt stack in Gazebo, including motion planning, inverse kinematics, collision environment etc. on the calvin_robot wiki page.

Documentation

This whole stack is being actively developed. If you use these packages and have any comments/bug reports/patches, or would like to contribute, don't hesitate to contact us!

katana.png

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]


2018-12-08 12:57