First steps with ROS

In this first post we have simulated Widow-X arm in ROS/Indigo. There are several simulators available in ROS, for instance:

MoveIt!, which is a motion planning.

Stage, very useful to 2D navigation.

Gazebo, tool to test algorithms and design robots.

Rviz, tool to visualize the robots.

For this project Gazebo has been selected with its recommended version for Indigo, Gazebo 2.X. If you are not using Indigo, take a look to this web to know which Gazebo version you need.

The model and its home position are shown in the following figures.

brazo_reposo brazo_home