motoman_control

Control software for the motoman robot

Basic Control

I updated the master branch to a basic functional workspace with a custom package called motoman_moveit.

1. Bring up the motoman Rviz demo with subscribers waiting for a new target Pose for either end effector:
   • roslaunch motoman_moveit motoman_group_listen.launch
2. Publish hard-coded Pose to chosen end effector:
   • roslaunch motoman_moveit motoman_group_target_pose.launch

Task Controller

The task controller contains a state machine that runs the Amazon Picking Challenge pick and place code.

1. To run it, first launch the demo:
   • roslaunch task_controller main.launch
2. (Optional) If you want to view the state machine, run:
   • rosrun smach_viewer smach_viewer.py
3. Run the task controller:
   • rosrun task_controller motoman_controller.py