SRVT can be thought of as a toolkit or advanced method that allows a robotic system to be imported into a simulation environment and applied to validation tests. The basis of the system is the coordinated use of some critical software for the ROS ecosystem. Simulation environment using Gazebo, trajectory planning using Moveit, mission communication and dynamic verification system using ROS Smach package were built in a single ROS package. For more information about the purpose of this tool: https://dergipark.org.tr/en/pub/jster/issue/61588/979689
Note: This tool does not include the robot model files, you can access the model addition details from the "Tool Environment Setup" section below.
- First Commit
- Bugfixes
- All codes and subpackages revised
- v2.0's bugfixes
- Minor changes on srvt_moveit launch files.
This work is supported by TÜBİTAK Project under grant number 120N803 which conducted by the İnovasyon Mühendislik.
This work is also done by Inovasyon Muhendislik and ESOGU-SRLAB under VALU3S project. This project has received funding from the ECSEL Joint Undertaking (JU) under grant agreement No 876852. The JU receives support from the European Union’s Horizon 2020 research and innovation programme and Austria, Czech Republic, Germany, Ireland, Italy, Portugal, Spain, Sweden, Turkey.
If the code or data help you, please cite the following the paper.
@research article{jster979689,
journal = {Journal of Science, Technology and Engineering Research},
issn = {},
eissn = {2717-8404},
address = {Eymir mah. Tek küme evleri, No.59/6 Gölbaşı-ANKARA},
publisher = {Mehmet BULUT},
year = {2021},
volume = {2},
pages = {31 - 45},
doi = {10.53525/jster.979689},
title = {Endüstriyel Robot Hareket Planlama Algoritmaları Performans Karşılaştırması},
key = {cite},
author = {Erdoğmuş, Alim} }
See the LICENSE file for license rights and limitations (Apache-2.0 Licence).