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Hi, I am new in ros and trying to implement a simulation framework to control a 7dof robot using geomagic touch device. I have studied basics of ros and simulation in gazebo and rviz. Can anyone provide me with guidelines that how should I proceed ?
Before using Gazebo, you need to create a URDF model of you 7 DOF robot. You can follow through the tutorials of Gazebo and ROS.
Test your model works with Gazebo by using ros_control for the controllers.
Then you will have to map the geomagic touch device to some sort of control input for ros_control controllers.
If you are satisfied with your simulation in Gazebo, you will need to replace the simulated robot with your robot hardware. This includes creating a joint state publisher and controllers for your 7 DOF robot.
Asked: 2016-10-03 22:11:10 -0500
Seen: 278 times
Last updated: Oct 03 '16
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