iit-concert-ros-pkg

ROS packages for the Concert robot simulation and demonstration.

Overview

This metapackage contains the following subpackages:

• concert_urdf - URDF/Xacro robot description
• concert_srdf - SRDF semantic robot description
• concert_gazebo - Gazebo simulation configurations
• concert_config - Simulation-specific XBot2 configuration
• concert_cartesio_config - CartesI/O configuration
• concert_demo - Demo applications and examples

Installation

Clone into your catkin workspace:

cd ~/catkin_ws/src
git clone https://github.com/ADVRHumanoids/iit-concert-ros-pkg.git
cd ..
catkin build

Usage

Launch Simulation

roslaunch concert_gazebo concert_gazebo.launch

XBot2 with Simulation

source ~/catkin_ws/src/iit-concert-ros-pkg/concert_config/setup.sh
xbot2-core --hw sim

CartesI/O

roslaunch concert_cartesio_config concert_cartesio.launch

Packages

concert_urdf

Contains the URDF/Xacro files describing the Concert robot's kinematics and visual/collision geometry.

concert_srdf

Contains the SRDF files for MoveIt and XBot2 semantic description (joint groups, end-effectors, etc.).

concert_gazebo

Gazebo simulation world files, model database, and launch files.

concert_config

Simulation-specific XBot2 configuration files including:

• HAL configuration for Gazebo
• Joint configurations
• GUI and launcher configurations

concert_cartesio_config

CartesI/O inverse kinematics configuration for Cartesian control.

concert_demo

Demo applications showcasing robot capabilities.

Dependencies

• ROS Noetic / ROS2 Humble
• Gazebo
• XBot2
• CartesI/O

License

BSD