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Orocos Barrett Simulation

This package contains Orocos RTT components for interfacing with Barrett hardware in the Gazebo simulator.

These components present the same RTT data ports as the components in the oro_barrett_hw package, but instead of connecting with real hardware, they are loaded with the rtt_gazebo_deployer Gazebo plugin. See the readme at the root of this repository for documentation on the component usage and interfaces.

There are four examples in the test directory which bring up various configurations of Barrett hardware in Gazebo with no controllers:

  • wam.launch A single 7-DOF WAM robot
  • hand.launch A single BH8-280 BHand
  • wam_hand.launch A single 7-DOF WAM robot with an attached BH8-280 BHand
  • dual_wam_bhand.launch A pair of 7-DOF WAM robots with BH8-280 BHands