curg-archive / staubli_tx60_controller Goto Github PK

The staubli and owd driver aren't very "rosy"

The cu_robot description needs to:
Publish a unified jointstate messages

Goals:
First level of integration - Use RobotModelDisplay in rviz to visualize staubli state

Second level of integration - Integrate MoveIt path planner

Needs a staubli_description package
Have a working URDF
Add parameters to staubli launch fiile to control state publication rate.

Needs a cu_arm_state_publisher that joins the states of the barrett and the staubli and publishes both together.

We probably also want a rosy interface to controlling the robot:

Launch files need to put the URDF in the /robot_description

Make the RobotModel display in RVIZ work.
This requires a new node that converts the output from the staubli and owd (barrett hand driver) nodes to the format expected by the RobotModel.

This requires you to make a URDF for both the barrett hand and the staubli robot. It should be a fairly simple conversion from the .robot files that we already have for openrave

The barrett model may already be available from:
https://github.com/jhu-lcsr/bhand_model

An approximate staubli urdf can be found here:
A draft of it can be found in trajectory_planner/models/