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Only released in EOL distros:  

katana_manipulation: katana_kinematics_constraint_aware | katana_manipulation_tutorials | katana_object_manipulation_launch | katana_openrave_grasp_planner | katana_openrave_test | katana_simple_grasp_planner | katana_tabletop_manipulation_launch

Package Summary

This stack contains kinematics, motion planning and grasp planning for the Katana arm. Specifically:

  • configuration files for the arm_navigation pipeline (package katana_arm_navigation),
  • constraint-aware forward and inverse kinematics (package katana_kinematics_constraint_aware),
  • an interpolated IK motion planner (package katana_interpolated_ik_motion_planner),
  • a grasp planner based on OpenRAVE (package katana_openrave_grasp_planner),
  • core functionality for pickup and place tasks (packages katana_object_manipulator, katana_object_manipulation_launch),
  • a collision map for tabletop manipulation (package katana_tabletop_collision_map_processing),
  • test programs for move_arm, constraint aware IK and Gripper controller (packages katana_openrave_test, katana_openloop_grasping), and
  • the top-level launch files for the whole stack (package katana_tabletop_manipulation_launch).

This stack only runs under ROS Diamondback at the moment.

katana_manipulation: katana_manipulation_tutorials | katana_object_manipulation_launch | katana_simple_grasp_planner | katana_tabletop_manipulation_launch

Package Summary

This stack contains object_manipulation configuration files for the Katana arm. Specifically:

  • configuration files for the object_manipulator pipeline: object_manipulator, grasp planning, planning environment, IIK (package katana_object_manipulation_launch),
  • a rudimentary grasp planner that considers the kinematic limitations of the Katana (package katana_simple_grasp_planner)
  • the top-level launch files for the whole arm navigation and object manipulation pipelines (package katana_tabletop_manipulation_launch).

Installation

For installation instructions, see uos-ros-pkg.

Report a Bug

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


2019-12-07 12:46