QB Softhand MoveIt! Config Package

The MoveIt! config package of QB SOFTHAND RESEARCH.

The default launch file control.launch in qbhand_ros will include and start robot_description, joint_state_publisher, robot_state_publisher in default, which is not good to integrate with manipulator. So a new bringup file qbhand_bringup.launch is created and used in this package.

If you want to use official bringup file, please try official-bringup-devel

Usage

• all commands are integrated in one launch file, just bringup qbhand and use Moveit! with the following command:

roslaunch qb_hand_moveit_config moveit_planning_execution.launch 

note: because the device_name of some files which generated by MoveIt! Setup Assistant is fixed as qbhand, to advoid mismatching error, the arg device_name is a hardcode and fixed as qbhand. You can set the qbhand's namespace with the option robot_namespace, eg. robot_namespace:=qbhand_ns. Other more options please checkup the launch file.

TODO

• gazebo simulation supported.