Ceiling mounted robot

The repository contains rail ceiling 2-DOF robot with arm. The ur10 arm example is available.

Install

Install dependencies

sudo apt-get install ros-noetic-ur-description ros-noetic-rqt-joint-trajectory-controller

Download and build

mkdir -p ~/rosws/src && cd ~/rosws/src
git clone https://github.com/kirillin/ceiling_arm_description.git
cd ~/rosws 
vcs import src < src/ceiling_arm_description/ceiling_arm_description.noetic.repos
catkin build

Run

Start the gazebo and spawn the robot

source cd ~/rosws/devel/setup.bash
roslaunch ceiling_arm_description start_demo_gazebo_with_arm.launch

For vacuum gripper test use

roslaunch ceiling_arm_description start_demo_gazebo_with_arm_vacuum_gripper.launch

Test to control using a GUI

rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller