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
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
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
This package is released as binaries, so you can just type:
sudo apt-get install ros-jade-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:
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!
