Safe Energetics

This is a repository for Safe Energetics Project

see other branch for the smaller testbed progress

Setting up the system

Assuming you have ROS Noetic installed on Ubuntu 20.04,

Without cloning this repo by yourself, simply download and run

./initial_setup.bash

It creates a folder named catkin_ws_safe_energetics in your home directory and builds the packages in this repo.

Launching Test Simulation

Run

roslaunch safe_energetics_testbed test_safe_energetics_testbed.launch

You will be able to adjust the joints of FANUC M20-iD/35 robot in the RPI testbed cage

Launching Test Simulation with MoveIt

Run

roslaunch safe_energetics_testbed_moveit_config demo.launch