ROS source code for the Pentaxis robot manipulator

This Pentaxis robot is a 5 degree of freedom manipulator, the first industrial robot designed and fabricated in Mexico, in the year 1996. This work is the integration of a robot manipulator into the Robot Operating System (ROS).In order for the robot to work under ROS, a hardware driver for the Galil unit, a custom kinematic plugin and a virtual representation of the robot were developed, among other components, such as examples for creating pick & place operations as well as path following.