Kinova Gen3 PIK ROS examples

Examples for Prioritized Inverse Kinematics ROS library pik_ros with a Kinova Gen3 robot arm.

🖥️ Usage

⚙️ Build

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

Running Kinova 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  

Running Kinova spraying PIK examples

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  

Running tests

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

📝 License

Materials in this repository are distributed under the following license:

All software is licensed under the BSD 3-Clause License.