panda_ros_control

Moving the Franka Emika Panda with ROS Control

• Author: David P. Leins [email protected]
• License: BSD 3-Clause License

Prerequisites

• MuJoCo 2.3.6
• python3-vcstool

Installing

1. Create catkin workspace (mkdir -p mj_ros_demo_ws/src && cd mj_ros_demo_ws && catkin init)
2. Clone the demo repository into the workspace with git clone https://github.com/ubi-agni/mujoco_ros_demos src/mujoco_ros_demos
3. Download ros package dependencies into catkin workspace src folder with vcs import src < src/mujoco_ros_demos/panda_ros_control/panda.deps
4. Build catkin workspace with catkin b mujoco_panda_waving and source the devel workspace.
5. Run roslaunch mujoco_panda_waving panda_auto_waving.launch use_sim_time:=true.

Play around with the launchfile arguments, if you like.