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Best arm to use for object maninupation in Gazebo 1.9.x and Ros Hydro

I was wondering if anyone had recommendations for the best arm to use in Gazebo 1.9 with Ros Hydro on a mobile robot that will be performing object manipulation.

By best I mean an arm that I can just add to my robot's urdf.xacro and give me the option of using off-the-shelf packages like Moveit! to manipulate objects with little to no extra configuration. I've been playing around with the Shadow arm but it kind of seems like overkill.

I'm really just looking for something that will give me functionality similar to what the PR2 arm and gripper provided with the object_manipulation stack in ros groovy.

Thanks in advance!