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Dimitri packages

Install:

sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-position-controllers ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control Change the melodic to your ROS version.

Do:

catkin_make

To see and move the robot on Rviz:

roslaunch dimitri_description display.launch

To use the Gazebo simulation:

roslaunch dimitri_description dimitri_sim.launch

roslaunch dimitri_control dimitri_control.launch

To move publish on the topic:

/dimitri/joint*_position_controller/command th * is a number from 1 to 18.

The camera images are on the topic:

/dimitri/camera1/image_raw, Type: sensor_msgs/Image

To see the joints go to:

dimitri_control/config/dimitri_control.yaml

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