Excavator Operation System

Caution

This repo is majorly for learning use and is NOT maintained anymore.

Excavator workspace for SANY excavator robot model.

Find the lower controller source code at Excavator BCS.

excavator_op.mp4

Diagram of Excavator Operation System

Quick Start

if using localhost:

unset ROS_MASTER_URI ROS_IP ROS_HOSTNAME

Auto bringup+gmapping+RGBD+rviz

roslaunch clbrobot blended_slam.launch

Single Tasks

Bring up

roslaunch clbrobot bringup.launch

Arm control

roslaunch excavator_controller excavator_melodic.launch  

Gazebo Sim

Gazebo only

roslaunch excavator_gazebo view_excavator_empty_world.launch

Gazebo & Moveit

roslaunch excavator_moveit_config demo_gazebo.launch

SLAM

roslaunch clbrobot lidar_slam.launch

Camera

roslaunch astra_launch astra.launch