=========================================== mkdir -p ~/hsma/rosbuild_ws/

cd ~/hsma/rosbuild_ws/

rosws init . /opt/ros/hydro/setup.bash

source setup.bash

git clone https://github.com/oh-cpt/hsmakata.git

rosws set hsmakata/

source setup.bash

rosmake -a

and start the dependency hunt - ENJOY!

=========================================== mkdir -p ~/hsma/catkin_ws/src

cd ~/hsma/catkin_ws/src

git clone https://github.com/oh-cpt/ikfast_plugin.git

cd ~/hsma/catkin_ws/

catkin_make

a. for communication over ethernet: katana ip is set to 192.168.168.232. Configure your interface to an address in that range e.g. 192.168.168.200 and a subnet mask of 255.255.0.0.

b. for communication over usb: katana ip is set to 192.168.1.1. Configure your interface to an address in that range e.g. 192.168.1.200 and a subnet mask of 255.255.255.0. remove in hsmakata_bring/launch/katana.launch

c. set KATANA_TYPE="katana_400_6m180" in your .bashrc

1. driver and planner start up

   roslaunch hsmakata_bringup hsmakata.launch

   roslaunch hsmakata_bringup moveit.launch

2. pick n place demo

   rosrun hsmakata_pick_n_place hsmakata_pick_n_place