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We are running a similar setup, and at the moment actively developing ROS integration for the Katana arm. The arm we use is the Katana 450, so in order to use the Katana 300 you will have to modify some things. Anyway, the katana_driver stack could be a good place to start.

Could you post your URDF files, so we can have a look at it?

We are running a similar setup, and at the moment actively developing ROS integration for the Katana arm. The arm we use is the Katana 450, so in order to use the Katana 300 you will have to modify some things. Anyway, the katana_driver stack could be a good place to start.

Could you post your URDF files, so we can have a look at it?

Edit: Thanks for posting the files. They are the unchanged files from p2os_urdf, so I did the following:

svn co https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/p2os
cd p2os/
rosmake
roslaunch p2os_urdf/launch/pioneer3dx_urdf.launch
rosrun rviz rviz

For me, the model looks perfectly alright. Did you make sure to click on "global frame" in RViz and select some existing frame (e.g., base_link)?

Judging from your TF tree, you seem to have other stuff running, too (like the openni_kinect drivers).

You should probably spend some time doing the URDF tutorials, they are really good. This should also answer your question why there are only .xacro files and no .urdf files.

After doing that, you can have a look at the turtlebot_description package to see how they added a Kinect to the robot.