7_dof_robot_arm

7 Dof Robot Arm for Gazebo Simulation

Build

catkin_make

Launch Gazebo and Rviz

roslaunch arm_hand arm_hand_empty_world.launch

publish Sensor_msgs/Jointstates name "/joint_command" to control position of 7 joints

Using joy controller

If you have a xbox360 joy, like this then launch roslaunch visual_servo_test joy_control.launch

Move to a Given target Pose

There test.cpp provide a node to publish TF transform from Target Frame to End Effector(link7), the servo_contorl_node listen to the transform, and move when a active command send by joy.

rosrun visual_servo_test test_node