thor_arm_moveit

ROS MoveIt configuration for Thor open source robot arm.

Required packages

• Robot Operating System
• MoveIt
• thor_arm_description

(Developed on Ubuntu 14.04, ROS Indigo, and MoveIt 0.7.5. Will probably work with newer versions.)

Installation instructions

• Install ROS packages

 apt-get install ros-indigo-desktop ros-indigo-moveit-ros

• Create a catkin workspace
• Git clone this repository into the "src" directory. Repeat for thor_arm_description
• Build

cd [catkin_workspace_root]
catkin_make

Set up environment

# Add this line $HOME/.bashrc to add this to all your environments
source [catkin_workspace_root]/devel/setup.sh

Demo instructions

• Launch the MoveIt demo:

roslaunch thor_arm_moveit demo.launch

• Drag the end-effector position and orientation sliders. Have fun!