Real-time collision detection for Panda with OpenCL
In this blog post I will present a collision detection algorithm specifically tailored for use with Panda. The algorithm was developed as […]
Category: Gazebo
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.