Motoman_AIMS

An developmental application of ROS-Industrial for Yaskawa Motoman robots.

Background

AIMS Lab. Gazebo Simulation of Motoman Robots using ROS Industrial. Melodic + Dashing.

This package is forked from the original motoman package kinetic devel, preserving only packages of interest. The motoman_mh5_support package's urdf/xacro files were modified to allow Gazebo-9 simulation. Additionally, modifications were implemented to allow interaction with the FS100 controller I/O's.

This metapackage contains packages developed by the ROS-I project.

Usage

This package is designed as the complete contents of the /src folder of a ROS1 workspace built using catkin tools.
Utilize the following commands to prepare a ROS workspace. We will assume that the workspace name is ws_core.

mkdir -p ~/ws_core/src
cd ws_core
catkin init
cd src

Features / Capability

• Base MH5 ROS control
• Moveit integration w/ MH5 Robot
• IO pin control of FS100 controller. (other controllers untested to date)
• Rviz visualization (via moveit plugin) of MH5 robot
• Gazebo Simulation of MH5