diablo_arm

Files for the diablo robot and kinova arm integration. Tested on ROS2 Foxy

Dependencies

For velocity control with teleop_twist, xterm is required.

sudo apt install xterm

Installation

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/Abanesjo/diablo_arm.git
cd ..
sudo apt-get update
rosdep update --rosdistro=foxy
rosdep install --from-paths src -y --ignore-src 
colcon build --symlink-install

Usage

To launch the simulation without the arm:

source install/setup.bash
ros2 launch diablo_simulation gazebo.launch.py

To launch the simulation with the arm:

source install/setup.bash
ros2 launch diablo_simulation gazebo_arm.launch.py

A version without plugins can also be simulated.

source install/setup.bash
ros2 launch diablo_simulation gazebo_noplugin.launch.py

You should see the robot appear in the Gazebo simulation window