To use ROS, you require the CUI version of the host controller, which comprises the Torobo Arm Manager (C++ based daemon) and Torobo Arm Command Interface (Python-based user interface). The ROS packages for Torobo Arm are listed below.
||A meta-package including all of the following ROS packages
||A package that describes the starting procedure of Torobo Arm-related components
||A package that describes the configuration of the Torobo Arm control
||A package that describes the structure model of Torobo Arm
||Software that connects Torobo Arm Manager to the ROS environment
||A package that describes the configuration for using the Gazebo physics engine
||A package that describes the configuration for using the MoveIt! path planning software
All of the software can be downloaded from the Tokyo Robotics public repository (in preparation).
In the ROS framework, a robot model is defined in an XML format called Unified Robot Description Format (URDF), which describes the shape of the links, the joint structure, and sensors installed in the robot. This file is referenced by many ROS applications to manage the robot's status. If this file is opened with Rviz (a standard visualization tool of ROS), the robot is visualized as shown in the upper panel of the figure. The robot model is controlled by moving the slider bars.
In ROS, MoveIt! is a widely used motion planning software for multi-joint robots such as Torobo Arm. MoveIt! enables motion planning execution in Rviz or C++/Python code via an API. MoveIt! supports obstacle avoidance and object grasping by default. Accordingly, it simplifies the complicated process of the motion planning and its execution, which are troublesome for developers. The path generated by MoveIt! can be easily executed by Gazebo (ROS-based physics engine) or a real robot.