Package Summary
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
- License: GPL
- Source: git http://kos.informatik.uni-osnabrueck.de/katana_driver.git (branch: electric)
Package Summary
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
- License: GPL
- Source: git https://github.com/uos/katana_driver.git (branch: fuerte)
Installation
For installation instructions, see uos-ros-pkg.
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:
export KATANA_TYPE="katana_300_6m180" export KATANA_TYPE="katana_450_6m90a"
To start the Katana node for a real robot arm, run:
roslaunch katana katana.launch
If you want to run the Gazebo simulation, run:
roslaunch katana_arm_gazebo katana_arm.launch
While one of those launch files is running, you can move the arm around using the keyboard:
roslaunch katana_teleop katana_teleop_key.launch
For the complete arm navigation pipeline, including motion planning, inverse kinematics, collision environment etc., run one of the following launch files instead of katana.launch/katana_arm.launch:
roslaunch katana_arm_navigation katana_arm_navigation.launch roslaunch katana_arm_navigation katana_arm_navigation_gazebo.launch
To test if following joint trajectories work, use the following file:
rosrun katana_openrave_test move_arm_joint_goal
To test the inverse kinematics, run this file:
rosrun katana_openrave_test move_arm_simple_pose_goal
This will generate random goal poses, try to calculate an inverse kinematics solution for those and move the arm there. Don't be alarmed by the following error messages:
[ERROR] [1316517655.045068713, 62.304000000]: Incorrect number of elements in IK output.
This just means that an inverse kinematics solution for this pose could not be found. You will get a lot of those, but after a while the arm should move to a correct pose.
Documentation
This whole stack is being actively developed. One major feature that we are going to add is a grasp planner, so that the grasping pipeline can be used. If you use these packages and have any comments/bug reports/patches, or would like to contribute, don't hesitate to contact us!
Report a Bug
Use GitHub to report bugs or submit feature requests. [View active issues]