Package with configuration files for the Kairos platform integrated with CartesI/O.
In particular the stack permits to control the UR manipulator and the base, constrained by joint limits, joint velocity limits, self-collision avoidance and tranformation from base to omni-wheels velocities.
roslaunch kairos_cartesio_config cartesio.launch
through the parameter use_capsules_collisions is possible to select between using convex-hulls of original meshes or capsules.