Contents
How to run
Running Denso's VS060 in a simple world
First, if you run it for the first time, install prerequisite.
$ rosdep install vs060 $ ros-$YOUR_ROSDISTRO$-moveit-ros-visualization (may not be necessary)
You can run VS060 manipulator on RViz by the following:
$ roslaunch denso_launch denso_vs060_moveit_demo_simulation.launch
Then you can plan the arm's pose by using Interactive Markers, then actually move it to there by hitting Plan & Execute on MoveIt!'s RViz plugin.
You can simulate object avoidance too by placing objects in RViz. Here for example with tabletop.
Youtube example:
VS060 in iREX 2013 demo
You can run it on RViz by:
$ roslaunch vs060_moveit_config demo_simulation_cage.launch
You'll see VS060 sitting in a bit more restricted situation.
The actual robot is moving in the same but real environment:
VS060 integrated with vision (xtion)
Using Web Operator
Using rwt_moveit (package work in progress here) you can operate this robot via WebGL-enabled web browsers.
Using Cartesian Path Planner Plug-In
Cartesian Path Planner Plug-In from ROS-Industrial.