This stack contains ROS hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:
- JointTrajectory and FollowJointTrajectory execution on the physical arm (packages
katana,kni,katana_trajectory_filter,katana_msgs), - simulation of the Katana arm in Gazebo (packages
katana_gazebo_plugins,katana_arm_gazebo), - URDF descriptions (package
katana_description), - simple teleoperation (packages
katana_teleop,katana_joint_movement_adapter), and - some demo programs (package
katana_tutorials).
For more information, visit the katana_driver ROS wiki page.