Z1 Software Setup¶

Requirements¶

This driver requires a system setup with ROS. It is recommended to use 20.04 with ROS noetic.

Building¶

Please follow the pre-requisite section.

ROS Noetic

Important

To acquire Z1 package with installation script please email support+z1@mybotshop.de with your subject as Z1 GitHub Access, your GitHub ID and your Invoice Name/ID.

Optional¶

Gazebo11 (noetic)

Z1 Base¶

This ros package contains the ROS wrapper for controlling the Z1.

Z1 Bringup¶

This is a ros package that launches the Z1 Base driver.

roslaunch z1_bringup bringup.launch

Z1 Control¶

This is a ros package that contains the control parameters for the Z1 arm utilized by moveit.

Z1 Demo¶

This is contains a ROS demo script that works in conjunction with the Z1 moveit to execute a series of trajectories.

Z1 Description¶

This is a ros package that contains the 3D models of the Z1. Additionally, the seperate 3D models are stitched together into a single entity via the universal robot description format (URDF). Additions to the robot’s 3D model can be made in the z1.urdf.

Z1 Gripper Moveit¶

This launches the Z1 bringup along with control enabling moveit control. It can be controlled via GUI or the Z1 demo. This is the main driver for the package.

roslaunch z1_gripper_moveit_config real_z1_moveit.launch

Z1 Moveit¶

This launches the Z1 bringup along with control enabling moveit control only for the arm. It can be controlled via GUI or the Z1 demo.

roslaunch z1_moveit_config real_z1_moveit.launch