Contents
Launch Files
launch/arm.launch
Brings up the arbotix driver for interfacing with the arbotix board and publishing joint states.
launch/fake-arm.launch
Simulation version of arm.launch. Starts a fake version of the arbotix driver that just changes joint states values.
launch/simple_arm_server.launch
Brings up the simple_arm_server for doing position control of the gripper.
launch/constraint_aware_simple_arm_server.launch
Brings up the simple_arm_server for doing position control of the gripper using constraint aware IK.
Configuration Files
config/arm.yaml
See the documentation for the arbotix_python package for a description of the parameters.
config/planning_environment.yaml
- Configuration for IK.