ROS packages developed by the Group of Robots and Intelligent Machines from the Universidad Politécnica de Madrid. This group is part of the Centre for Automation and Robotics (CAR UPM-CSIC). On going development continues in the hydro-devel branch.

Maintainer: Francisco Suárez Ruiz, http://www.romin.upm.es/fsuarez/

• See the installation instructions below.
• This repository.
• Throughout the various files in the packages.
• For questions, please use http://answers.ros.org

1. Install ROS Hydro (Desktop Install Recommended)
2. Install Gazebo 1.9

sudo apt-get install ros-hydro-desktop gazebo

Go to your ROS working directory. e.g.

cd ~/catkin_ws/src

Use the wstool to install the repository

wstool init .
wstool merge https://raw.github.com/fsuarez6/grips/hydro-devel/grips.rosinstall
wstool update

Install any missing dependencies using rosdep:

rosdep update
rosdep install --from-paths . --ignore-src --rosdistro hydro

Now compile your ROS workspace. e.g.

cd ~/catkin_ws && catkin_make

Be sure to always source the appropriate ROS setup file, which for Hydro is done like so:

source /opt/ros/hydro/setup.bash

You might want to add that line to your ~/.bashrc

Try any of the .launch files in the grips_gazebo package: (e.g. bimanual_setup.launch)

roslaunch grips_gazebo bimanual_setup.launch

• Include bimanual setup

• Initial Release

• Replace grips collision meshes by simplified primitives (boxes, cylinders, etc.)
• Add collision avoidance capabilities during teleoperation

TODO