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README.md

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This repo is cenetered around a Docker container for a ROS workspace designed to control the barrett hand and staubli robotic arm. It is currently a work in progess.

Dependencies:

Docker

ROS (if you want to interact with the server from the host machine)

Currently implemented:

  • Barrett hand (see here)
  • Staubli arm
  • Planner
  • Launch file / controller for both parts of the robot

Building the container image:

docker build -t curg-robot-server .

Running the robot:

docker run -d --privileged curg-robot-server This will spin up a robot-server in the background. The server will automatically connect to a rosmaster running on docker's host machine (port 11311).

To run the container in interactive mode in a bash shell you can run the following command: docker run --privileged -ti curg-robot-server bash