Repo for my graduation project.

My master degree graduation project is about coordination control for mobile manipulator. My goal is to acheive movement control of manipulator and mobile base simultaneously.

• Ubuntu 14.04
• ROS Indigo

• ur_modern_driver, Source at src/ur_modern_driver

• hokuyo_node, You can install hokuyo_node via command line:

sudo apt-get install ros-indigo-hokuyo-node

• laser_scan_matcher, This is a node from scan_tools, source at src/scan_tools/laser_scan_matcher

Provide the velocity control interface for ur.

Description files for mobile manipulator. Source files are here: src/aimm_description

Test this package by cd to src/aimm_description/ and using command:

sh display.sh

You will see the effect like below if everything is alright.

MoveIt! config package for mobile manipulator

Launch this module with a custom launch file:

roslaunch laser_scan_matcher localization.launch

TODO

TODO