Mobile Manipulator Gazebo Simulation

Extension to the mobile manipulator project code for running Gazebo simulations.

This repository is no longer maintained.

Dependencies

The UR packages are not available from apt, so clone from source into the workspace:

git clone https://github.com/ros-industrial/universal_robot

Robotiq must also be cloned:

git clone https://github.com/ros-industrial/robotiq

Ridgeback packages can be installed from apt:

sudo apt install ros-<distro>-ridgeback-simulator ros-<distro>-ridgeback-control ros-<distro>-ridgeback-description

We also need some generic control infrastructure:

sudo apt install ros-<distro>-ros-control ros-<distro>-ros-controllers ros-<distro>-gazebo-ros-control

Usage

Run roslaunch mm_gazebo simulation.launch.

Packages

• mm_description: URDF for the robot.
• mm_gazebo: Launch files for setting up and running the simulation.
• mm_gazebo_interface: Sets up control interfaces for the Gazebo simulation.