Abstract

These ROS packages are for the basic functions of JAKA robot, At Present MoveJ，MoveP and some moveit function are supported

Package Description

• jaka_control is the package of receiving the moveit planning result, next，interpolating these points using cubic spline curve and send the command to the robot

• jaka_controller_tcp_ros is the package to control the robot and receive the state information using TCP/IP protocol

• jaka_description is the package of storing the jaka urdf files

• jaka_moveit_config is the package of using moveit to realize the motion planning

• universal_msgs is the package of store types files of topic、service and action

Usage

1. open a terminal and git clone this reponsitory to your workspace/src

2. open a termianl and run

catkin_make

3. Change address in jaka_ros_node.cpp and jaka_state_pub_node or set robot_ip in jaka_bringup.launch

4. open a terminal and run

roslaunch jaka_controller_tcp_ros jaka_bringup.launch

5. if you want to use moveit to perform some task, run

roslaunch jaka_moveit_config jaka_moveit_planning_execution.launch

Development Environment

• ubuntu16.04+ros_kinetic

• ubuntu18.04+ros_melodic