Category: Robot Operating System

Welcome to my software development and robotics related blog

Automatic robot state initialization in Gazebo

In this post we implement a ROS node that automatically initializes the robot state in Gazebo to a valid configuration . This is achieved by means of a custom joint position controller and the controller switching mechanism provided by the controller manager.

Attach a box to the robot hand in Gazebo

In this post we are going to attach a simple box to the hand of Panda robot in the Gazebo simulation environment.

MoveIt! – Constraint-aware planning

In this post we are going to utilize MoveIt! in order to navigate Panda in a cluttered environment in the Gazebo simulation.

Integrating FRANKA EMIKA Panda robot into Gazebo

In this post I will outline a step-by-step procedure to simulate the Panda robot in Gazebo and connect it to MoveIt! for motion planning.