This package contains the visulation of robot model and robot model controller in web server.
The MoveIt! smart wrist package
The MoveIt! commander ROS node
- Install MoveIt! kinetic with the following command
sudo apt install ros-kinetic-moveit
- Install MoveIt! TRAC-IK plugin with the following command
sudo apt-get install ros-kinetic-trac-ik-kinematics-plugin
- Install rosbridge server with the following command
sudo apt-get install ros-kinetic-rosbridge-server
- Clone this project and the dependencies to your catkin's workspace src folder
- Run catkin_make to build
Start with running the MoveIt! package launch file with the following command in the terminal
roslaunch moveit_smart_wrist demo.launch
To start the web server:
roslaunch web_server webserver.launch
To start the commander node:
rosrun smart_movement web_moveit_coordinate_node.py
Documentation how it works can be found in
Documentation_on_MoveIt.pdf https://github.com/fontyssmartwrist/smart_movement/blob/master/Documentation_on_MoveIt.pdf
Web_ROS_CodeSys_Report.pdf https://github.com/fontyssmartwrist/web_server/blob/master/Web_ROS_CodeSys_Report.pdf
Aike van Alkemade
Zhicheng Yu