This repository contains some parts of the ROS packages developed by the Sarbot Team for the Virtual Robotics Challenge (VRC).

Documentation

• See the installation instructions below.
• This page.
• Throughout the various files in the package.
• For questions, please use http://answers.ros.org or http://answers.gazebosim.org depending on the topic.

Installation

Go to your ROS working directory. eg.

cd ~/ros

Clone the atlas-arm-manipulation stack from bitbucket:

$ git clone https://bitbucket.org/fsuarez6/atlas-arm-manipulation.git

The atlas_arm_kinematics package depends on the arm_kinematics_tools package (wiki). Please install it from the svn repository:

$ svn checkout http://kaist-ros-pkg.googlecode.com/svn/trunk/arm_kinematics_tools
$ rosmake arm_kinematics_tools

After installing the arm_kinematics_tools package you should be able to build the atlas-arm-manipulation stack:

$ rosmake atlas-arm-manipulation

Software Versions

Gazebo 1.7.3 or above

DRCSim 2.5.2 or above

Sandia Hands 5.1.13 or above

OSRF Common 1.0.6 or above

Usage

Qualification - Task 2: Manipulate

Task Qual-2 (short for VRC Qualification Task Two) shall be to pick up a cordless drill from a table and place it in a bin next to the table.

Start the qual_task_2 world:

$ roslaunch atlas_utils qual_task_2.launch 

$ roslaunch atlas_control qual_task_2.launch