robot1_ROS

ROS packages to control a humanoid robot

Dependencies

run this instruction inside your workspace:

for noetic distro

$ sudo apt-get install ros-noetic-moveit
$ sudo apt-get install ros-noetic-joint-state-publisher ros-noetic-joint-state-publisher-gui
$ sudo apt-get install ros-noetic-gazebo-ros-control joint-state-publisher
$ sudo apt-get install ros-noetic-ros-controllers ros-noetic-ros-control

Usage

Controlling the robot by joint_state_publisher

$ roslaunch robot1_pkg joint_states.launch

Controlling the robot by Moveit and kinematics

Choose either "left_hand" or "right_hand" from "Planning Group"

$ roslaunch robot1_moveit_pkg demo.launch