6DOF-Manipulator-Simulation

This repo contains simulation nodes in ROS for a 6DOF robot arm. The code is based on ROS, Gazebo and URDF.

Build

To build the packages run:

$ cd /path/to/your/workspace
$ catkin build
$ source devel/setup.bash

Testing

Once everything is built it is time to test it out. We have included a default launch file that starts a bare-minimum robot with functioning ROS control.

$ roslaunch crustcrawler_gazebo controller.launch

Now only our imagination (and bad physics simulation) is the limit!