A catkin package, that enables the Armadillo2 robot to use elevators. The package was built on Ubuntu 16.04 LTS in ROS Kinetic with Gazebo 7.14.
The repository is private and intended to be used by BGU-Armadillo team and Robotican Ltd.

• Ubuntu 16.04 LTS.
• full desktop version of ROS Kinetic - ros-kinetic-desktop-full
• armadillo2 in your catkin workspace - armadillo2 Installation

• clone this repository into ~/catkin_ws/src and build:

$ cd ~/catkin_ws/src
$ git clone https://github.com/omrieitan/elevator.git
$ cd ..
$ catkin_make

• Create symbolic links of the models to the gazebo models folder:

ln -nsf ~/catkin_ws/src/elevator/models/* ~/.gazebo/models

• Add the following line to <armadillo2_moveit_config package>/config/armadillo2_robot.srdf under the tag:

<group_state name="button" group="arm">
    <joint name="rotation1_joint" value="0" />
    <joint name="rotation2_joint" value="0" />
    <joint name="shoulder1_joint" value="0" />
    <joint name="shoulder2_joint" value="0" />
    <joint name="shoulder3_joint" value="0.773" />
    <joint name="wrist_joint" value="0" />
</group_state>

• for stand alone demo run:

roslaunch elevator sim_elevator.launch

• to run as part of another algorithm:

roslaunch elevator sim_elevator.launch stand_alone:=false

and don't forget to set the images. stand_alone:=false assume you've already launched armadillos.

The repository is maintained by Omri Eitan, omrieitan@gmail.com