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.

Docker

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