此仓库为HIROP的软件平台，包含华数机器人部分机械臂的URDF模型、moveit配置、gazebo配置、ROS-I驱动包、夹爪驱动包、rviz控制面板、抓取Demo、抓取仿真环境、基础Demo等示例开发包。
此平台遵循BSD开源协议。
支持indigo、kinetic版本。如需下载kinetic版本，请将分支切换至kinetic分支。
维护者: Kunlin Xu(1125290220@qq.com)
请先对ROS环境进行安装，支持indigo以及kinetic版本。
ROS相关教程可参考：完整的安装教程
由于indigo版本的gazebo模型源地址更换，所以无法自动获取完整的gazebo模型，按照以下步骤进行离线安装：
1.从此链接处下载完整的gazebo模型压缩包
2.将模型解压至 ~/.gazebo/modles 文件夹中
HIROP平台支持多型号机械臂，因此以下所有实验均使用br606机械臂作为示例说明。若用户想进行其它支持的机械臂的仿真，则只需将指令中的br606替换成对应型号即可。
$ roslaunch hsr_description br606_upload.launch$ roslaunch hsr_description display.launch$ roslaunch hsr_bringup br606_sim.launch$ roslaunch hsr_description br606_upload.launch
$ roslaunch hsr_gazebo br606_gazebo.launch
$ roslaunch br606_moveit_config hsr_br606_moveit_planning_execution.launch sim:=true
$ roslaunch br606_moveit_config moveit_rviz.launch$ roslaunch hsr_description br606_with_kinect_upload.launch
$ roslaunch hsr_gazebo robot_gazebo.launch$ roslaunch hsr_description br606_with_gripper_upload.launch
$ roslaunch br606_moveit_config hsr_br606_moveit_planning_execution.launch sim:=true
$ roslaunch br606_moveit_config moveit_rviz.launch
$ rosrun hsr_demo moveit_pick_and_place_demo.py$ roslaunch hsr_bringup br606_go.launch robot_ip:=10.10.56.214$ roslaunch hsr_description br606_upload.launch
$ roslaunch br606_moveit_config br606_moveit_planning_execution.launch sim:=false
$ roslaunch hsr_rois_client robot_full_interface_download.launch robot_ip:=10.10.56.214
$ roslaunch br606_moveit_config moveit_rviz.launch$ roslaunch hsr_description br606_with_gripper_upload.launch
$ roslaunch br606_moveit_config br606_moveit_planning_execution.launch sim:=false
$ roslaunch hsr_rosi_client robot_full_interface_download.launch robot_ip:=10.10.56.214
$ rosrun hsr_gripper_driver gripper_control_srv
$ rosrun hsr_gripper_driver gripper_action.py
$ rosrun hsr_pick moveit_pick_and_place_demo.py$ roslaunch kinect2_bridge kinect2_bridge.launch
$ roslaunch hsr_description br606_with_gripper_upload.launch
$ roslaunch br606_moveit_config br606_moveit_planning_execution.launch sim:=false
$ roslaunch hsr_rosi_client robot_full_interface_download.launch robot_ip:=10.10.56.214
$ rosrun hsr_gripper_driver gripper_control_srv
$ rosrun hsr_gripper_driver gripper_action.py
$ roslaunch hsr_bringup ork_base_tf.launch
$ rosrun hsr_pick tf_camera_to_base.py
$ rosrun object_recognition_core detection -c `rospack find object_recognition_linemod`/conf/detection.ros.ork
$ rosrun hsr_pick moveit_pick_and_place_demo.py$ roslaunch hsr_bringup pick_gui.launch=======