katana_manipulation: katana_arm_navigation | katana_interpolated_ik_motion_planner | katana_kinematics_constraint_aware | katana_object_manipulation_launch | katana_object_manipulator | katana_openloop_grasping | katana_openrave_grasp_planner | katana_openrave_test | katana_tabletop_collision_map_processing | katana_tabletop_manipulation_launch
Package Summary
This package contains the launch files for arm navigation with the Katana robot arm. It is modeled after the pr2_arm_navigation stack. All packages inside that stack are represented as subdirectories here.
The complete arm navigation pipeline can be launched via the katana_arm_navigation.launch file.
- Author: Martin Günther
- License: BSD
- Repository: uos-ros-pkg
- Source: git http://kos.informatik.uni-osnabrueck.de/uos-ros-pkg.git
Contents
ROS Versions
This package is tested with Diamondback and won't run under CTurtle.
As a source of sensor data, a Kinect is used. At the moment, the Kinect camera is mounted separately from the arm, although in the future, it will be mounted (together with the Katana) on a mobile robot.
The following picture should clarify the position of the Kinect relative to the arm in our current setup:
