This package can be used in conjunction with Robot's that have been configured to run with the MoveIt! toolbox. It is currently working for ROS-hydro.

Two robots that have this capability are the NASA Robonaut2 and Valkyrie robots and UT Austin Dreamer robot. To check out these sims,

R2:

https://bitbucket.org/nasa_ros_pkg/nasa_r2_common (hydro branch)

https://bitbucket.org/nasa_ros_pkg/nasa_r2_simulator (hydro branch)

Val:

https://bitbucket.org/swhart115/nasa_v1_simulator (master branch)

Dreamer:

https://bitbucket.org/swhart115/dreamer_common (master branch) To run the teleop nodes follow the following steps:

For R2, run the following three launch files in different terminals:

$ roslaunch r2_gazebo r2_gazebo.launch
$ roslaunch r2_moveit_config moveit_planning_execution.launch
$ roslaunch nasa_robot_teleop r2.launch

For R2 w/ Legs, run the following three launch files in different terminals:

$ roslaunch r2_gazebo r2_fullbody_gazebo.launch
$ roslaunch r2_fullbody_moveit_config moveit_planning_execution.launch
$ roslaunch nasa_robot_teleop r2_fullbody.launch

For Valkyrie, run the following three launch files in different terminals:

$ roslaunch v1_gazebo v1_gazebo.launch
$ roslaunch v1_moveit_config moveit_planning_execution.launch
$ roslaunch nasa_robot_teleop valkyrie.launch

For Dreamer, run the following three launch files in different terminals:

$ roslaunch dreamer_gazebo dreamer_gazebo.launch
$ roslaunch dreamer_moveit_config moveit_planning_execution.launch
$ roslaunch nasa_robot_teleop dreamer.launch