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IMPORTANT: I'm no longer maintaining this repository. The development has been moved to github:

This repository contains the ROS packages developed by the Group of Robots and Intelligent Machines from the Universidad Politécnica de Madrid. This group is part of the Centre for Automation and Robotics (CAR UPM-CSIC).

Maintainer: Francisco Suárez Ruiz,


  • See the installation instructions below.
  • This wiki page.
  • Throughout the various files in the package.
  • For questions, please use


Basic Requirements

  1. Install ROS Hydro (Desktop Install Recommended)
  2. Install Gazebo 2.0

Additional Dependencies

If you installed succesfully ROS Hydro now you can install this additional packages:

sudo apt-get install ros-hydro-moveit-full ros-hydro-gazebo-ros-pkgs ros-hydro-gazebo-ros-control ros-hydro-ros-control ros-hydro-ros-controllers ros-hydro-robot-state-publisher ros-hydro-image-pipeline ros-hydro-cmake-modules python-wstool


For the Geomagic Touch (formerly Geomagic Phantom Omni) you have to install additional packages as explained here

Repository Installation

Go to your ROS working directory. e.g.

cd ~/catkin_ws/src

Use the wstool to install the repository

wstool init .
wstool merge
wstool update

Check for any missing dependencies using rosdep:

rosdep update
rosdep check --from-paths . --ignore-src --rosdistro hydro

After installing the missing dependencies compile your ROS workspace. e.g.

cd ~/catkin_ws && catkin_make

Testing Installation

Be sure to always source the appropriate ROS setup file, which for Hydro is done like so:

source /opt/ros/hydro/setup.bash

You might want to add that line to your ~/.bashrc

Try any of the .launch files in the grips_gazebo package: (e.g. cordless_drill.launch)

roslaunch grips_gazebo cordless_drill.launch


0.1.0 (2013-10-16)

  • Initial Release


0.2.0 (2013-11-11)

  • Include bimanual grips setup (Ready in the development branch but is waiting for two pull requests: see 58ceeef)