This repo is cenetered around a Docker container for a ROS workspace designed to control the barrett hand and staubli robotic arm. It is currently a work in progess.
ROS (if you want to interact with the server from the host machine)
- Barrett hand (see here)
- Staubli arm
- Planner
- Launch file / controller for both parts of the robot
docker build -t curg-robot-server .
docker run -d --privileged curg-robot-server
This will spin up a robot-server in the background. The server will automatically connect to a rosmaster running on docker's host machine (port 11311).
To run the container in interactive mode in a bash shell you can
run the following command:
docker run --privileged -ti curg-robot-server bash