Examples for Prioritized Inverse Kinematics ROS library pik_ros with a Kinova Gen3 robot arm.
Follow build instructions for Kinova Gen3 ROS drivers ros_kortex
Follow build instructions for pik_ros
Clone to your catkin workspace and build with
catkin build kinova_gen3_pik_examples
Launch Kinova Gazebo simulation:
roslaunch kinova_gen3_pik_examples spawn_kortex_robot.launch
Launch examples:
roslaunch kinova_gen3_pik_examples pik_examples.launch
Launch Kinova Gazebo simulation:
roslaunch kinova_gen3_pik_examples spawn_kortex_robot_spraying.launch
Launch examples:
roslaunch kinova_gen3_pik_examples spraying_pik_examples.launch
Launch Kinova Gazebo simulation:
roslaunch kinova_gen3_pik_examples spawn_kortex_robot_spraying.launch
Navigate to the build folder and run ctest:
cd ~/catkin_ws/build/kinova_gen3_pik_examples
ctest
Materials in this repository are distributed under the following license:
All software is licensed under the BSD 3-Clause License.