Only released in EOL distros:
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).
- Author: Maintained by Martin Günther, Henning Deeken
- License: GPL
- Source: git http://kos.informatik.uni-osnabrueck.de/katana_driver.git (branch: electric)
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).
- Author: Maintained by Martin Günther, Henning Deeken
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: fuerte)
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).
- Author: Maintained by Martin Günther, Henning Deeken
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: groovy)
Package Summary
This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.
- Maintainer status: developed
- Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
- Author:
- License: BSD, GPL
- Source: git https://github.com/uos/katana_driver.git (branch: hydro_catkin)
Package Summary
This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.
- Maintainer status: developed
- Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
- Author:
- License: BSD, GPL
- Source: git https://github.com/uos/katana_driver.git (branch: indigo_catkin)
Package Summary
This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.
- Maintainer status: developed
- Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
- Author:
- License: BSD, GPL
- Source: git https://github.com/uos/katana_driver.git (branch: jade)
Package Summary
This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.
- Maintainer status: developed
- Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
- Author:
- License: BSD, GPL
- Source: git https://github.com/uos/katana_driver.git (branch: kinetic)
Package Summary
This stack contains all descriptions, drivers and bringup facilities for Neuronics Katana 450 arm.
- Maintainer status: developed
- Maintainer: Martin Günther <mguenthe AT uni-osnabrueck DOT de>
- Author:
- License: BSD, GPL
- Source: git https://github.com/uos/katana_driver.git (branch: lunar)
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!
Report a Bug
Use GitHub to report bugs or submit feature requests. [View active issues]