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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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MiR 100 hook and cart for ROS Noetic #120

Open brean opened 1 year ago

brean commented 1 year ago

This pr adds the hook and a cart to the MiR 100 platform as it can be used in a retail store (the MARLIN system without cameras and without laser pointer, see https://robotik.dfki-bremen.de/en/research/robot-systems/marlin/ ) by just adding a new flag (mir_hook) to True.

You could also specify MiR 250 mir_type:=mir250 and mir_hook:=True, although the official MiR 250 hook looks a bit different.

Credits: 3D models and phobos files by Mehmed Yüksel, initial version by Dennis Mronga, some changes (colors, hook position, handy mir_hook-flag ...) by Andreas Bresser.

brean commented 1 year ago

I also added paused and teleop as parameter to start the simulation directly and headless without teleop.