Ben Gurion University of the Negev

ROS indigo + gazebo 2.2 (gazebo included in the ROS installation)

sudo apt-get install git-all

sudo apt-get install kdiff3

sudo apt-get install qgit

sudo apt-get install ros-indigo-move-base

sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

sudo apt-get install ros-indigo-gazebo-ros-control

http://moveit.ros.org/install/

"cd"

"git clone https://github.com/bgumodo/bgumodo_ws.git"

"cd bgumodo_ws"

"catkin_make"

roslaunch komodo_gazebo komodo_empty_world.launch

1. In the command-line type " rqt " A gui will come up.

2. go to plugins-->Robot Tools and pick "Robot Steering"

3. type "/komodo_1/cmd_vel"

4. Use the bars to control linear and angular motion.

1. roslaunch komodo_1_moveit_config moveit_planning_execution.launch

An rviz window will come up, choose "ESTkconfig" goto planning click "update" than "plan and execute". The arm should move to a random position...