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Robot's Gazebo should define/mimic the control layer (see the tutorial for that) but for anything located at higher layer (IKFast should be too) you should be able to use the same code that you use for your real robot.

UR seems to already come with Gazebo pkg, so you may be able to simply apply your IKFast plugin to that using MoveIt! (I'm not sure much about UR).

Denso pkg hasn't been fully integrated yet with Gazebo so that using IKFast in Gazebo with Denso still needs some work (what's remaining is to bind controller with Gazebo, which is exactly what the tutorial above talks about).

Robot's Gazebo should define/mimic the control layer (see the tutorial for that) but for anything located at higher layer (IKFast should be too) you should be able to use the same code that you use for your real robot.


For each robot specific package:

  • UR seems to already come with Gazebo pkg, so you may be able to simply apply your IKFast plugin to that using MoveIt! (I'm not sure much about UR).

  • Denso pkg hasn't been fully integrated yet with Gazebo so that using IKFast in Gazebo with Denso still needs some work (what's remaining is to bind controller with Gazebo, which is exactly what the tutorial above talks about).

Robot's Gazebo package should define/mimic the control layer (see the tutorial for that) but for anything located at higher layer (IKFast should be too) you should be able to use the same code that you use for your real robot.


For each robot specific package:

  • UR seems to already come with Gazebo pkg, so you may be able to simply apply your IKFast plugin to that using MoveIt! (I'm not sure much about UR).

  • Denso pkg hasn't been fully integrated yet with Gazebo so that using IKFast in Gazebo with Denso still needs some work (what's remaining is to bind controller with Gazebo, which is exactly what the tutorial above talks about).

Robot's Gazebo package should define/mimic the control layer (see the tutorial for that) but for anything located at higher layer (IKFast should be too) you should be able to use the same code that you use for your real robot.


For each robot specific package:

  • UR seems to already come with Gazebo pkg, so you may be able to simply apply your IKFast plugin to that using MoveIt! (I'm not sure much about UR).

  • Denso pkg hasn't been fully integrated yet with Gazebo so that using IKFast in Gazebo with Denso still needs some work (what's remaining is to bind controller with Gazebo, which is exactly what the tutorial above talks about).