├── README.md ├── aubo ├── UpdateMoveitLib │ └── Kinetic │ │ ├── Update.sh │ │ ├── libmoveit_trajectory_processing.so │ │ └── libmoveit_trajectory_processing.so.0.9.15 ├── aubo_controller │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ ├── joint_relay_handler.h │ │ ├── joint_trajectory_action.h │ │ ├── param_utils.h │ │ ├── utils.h │ │ └── utils_.h │ ├── package.xml │ ├── script │ │ └── aubo_controller │ │ │ ├── __init__.py │ │ │ ├── aubo_robot_simulator │ │ │ ├── trajectory_speed.py │ │ │ └── trajectory_speed.pyc │ └── src │ │ ├── aubo_robot_simulator.cpp │ │ └── joint_trajectory_action.cpp ├── aubo_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── joint_names_aubo_i5.yaml │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── aubo_i10 │ │ │ ├── base_link.DAE │ │ │ ├── base_link.STL │ │ │ ├── foreArm_Link.DAE │ │ │ ├── foreArm_Link.STL │ │ │ ├── shoulder_Link.DAE │ │ │ ├── shoulder_Link.STL │ │ │ ├── upperArm_Link.DAE │ │ │ ├── upperArm_Link.STL │ │ │ ├── wrist1_Link.DAE │ │ │ ├── wrist1_Link.STL │ │ │ ├── wrist2_Link.DAE │ │ │ ├── wrist2_Link.STL │ │ │ ├── wrist3_Link.DAE │ │ │ └── wrist3_Link.STL │ │ ├── aubo_i3 │ │ │ ├── collision │ │ │ │ ├── base_link.STL │ │ │ │ ├── foreArm_Link.STL │ │ │ │ ├── shoulder_Link.STL │ │ │ │ ├── upperArm_Link.STL │ │ │ │ ├── wrist1_Link.STL │ │ │ │ ├── wrist2_Link.STL │ │ │ │ └── wrist3_Link.STL │ │ │ └── visual │ │ │ │ ├── base_link.DAE │ │ │ │ ├── foreArm_Link.DAE │ │ │ │ ├── shoulder_Link.DAE │ │ │ │ ├── upperArm_Link.DAE │ │ │ │ ├── wrist1_Link.DAE │ │ │ │ ├── wrist2_Link.DAE │ │ │ │ └── wrist3_Link.DAE │ │ ├── aubo_i5 │ │ │ ├── collision │ │ │ │ ├── base_link.STL │ │ │ │ ├── foreArm_Link.STL │ │ │ │ ├── pedestal.STL │ │ │ │ ├── shoulder_Link.STL │ │ │ │ ├── upperArm_Link.STL │ │ │ │ ├── wrist1_Link.STL │ │ │ │ ├── wrist2_Link.STL │ │ │ │ └── wrist3_Link.STL │ │ │ └── visual │ │ │ │ ├── base_link.DAE │ │ │ │ ├── foreArm_Link.DAE │ │ │ │ ├── shoulder_Link.DAE │ │ │ │ ├── upperArm_Link.DAE │ │ │ │ ├── wrist1_Link.DAE │ │ │ │ ├── wrist2_Link.DAE │ │ │ │ └── wrist3_Link.DAE │ │ ├── aubo_i5l │ │ │ ├── arm_mount.stl │ │ │ ├── arm_mount2.stl │ │ │ ├── base_frame.stl │ │ │ ├── base_link.STL │ │ │ ├── f1_Link.STL │ │ │ ├── foreArm_Link.STL │ │ │ ├── foreArm_Link3.STL │ │ │ ├── gripper.stl │ │ │ ├── s_Link.STL │ │ │ ├── shoulder_Link.STL │ │ │ ├── shoulder_Link2.stl │ │ │ ├── u_Link.STL │ │ │ ├── upperArm_Link.STL │ │ │ ├── w1_Link.STL │ │ │ ├── w2_Link.STL │ │ │ ├── wrist1_Link.STL │ │ │ ├── wrist2_Link.STL │ │ │ └── wrist3_Link.STL │ │ └── aubo_i7 │ │ │ ├── collision │ │ │ ├── base_link.STL │ │ │ ├── foreArm_Link.STL │ │ │ ├── shoulder_Link.STL │ │ │ ├── upperArm_Link.STL │ │ │ ├── wrist1_Link.STL │ │ │ ├── wrist2_Link.STL │ │ │ └── wrist3_Link.STL │ │ │ └── visual │ │ │ ├── base_link.DAE │ │ │ ├── foreArm_Link.DAE │ │ │ ├── shoulder_Link.DAE │ │ │ ├── upperArm_Link.DAE │ │ │ ├── wrist1_Link.DAE │ │ │ ├── wrist2_Link.DAE │ │ │ └── wrist3_Link.DAE │ ├── package.xml │ ├── resources │ │ ├── DH model.jpg │ │ ├── ip_set_up.jpg │ │ └── zero position and rotate direction.jpg │ └── urdf │ │ ├── aubo.gazebo.xacro │ │ ├── aubo.transmission.xacro │ │ ├── aubo_i10.urdf │ │ ├── aubo_i3.urdf │ │ ├── aubo_i5.urdf │ │ ├── aubo_i5.urdf.xacro │ │ ├── aubo_i5L.urdf │ │ ├── aubo_i5_robot.urdf.xacro │ │ ├── aubo_i5l.urdf.xacro │ │ ├── aubo_i5l_robot.urdf.xacro │ │ ├── aubo_i7.urdf │ │ ├── common.gazebo.xacro │ │ └── materials.xacro ├── aubo_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── IO Control.md │ ├── README.md │ ├── cmake │ │ └── Findcontrol_api.cmake │ ├── config │ │ ├── auborobot.conf │ │ └── tracelog.properties │ ├── include │ │ └── aubo_driver │ │ │ ├── AuboRobotMetaType.h │ │ │ ├── aubo_driver.h │ │ │ ├── otg │ │ │ ├── EquationSolutionStep1.h │ │ │ ├── OTGStep1.h │ │ │ ├── OTGStep2.h │ │ │ ├── OTGVelocity.h │ │ │ ├── OtgType3Com.h │ │ │ └── otgnewslib.h │ │ │ ├── robot_state.h │ │ │ ├── robotiomatetype.h │ │ │ └── serviceinterface.h │ ├── lib │ │ ├── lib32 │ │ │ ├── libauborobotcontroller.a │ │ │ ├── libauborobotcontroller.so │ │ │ ├── libauborobotcontroller.so.1 │ │ │ ├── libauborobotcontroller.so.1.0 │ │ │ ├── libauborobotcontroller.so.1.0.0 │ │ │ ├── libauborobotcontroller.so.1.0.6 │ │ │ └── libotgLib.a │ │ └── lib64 │ │ │ ├── aubocontroller │ │ │ ├── libauborobotcontroller.a │ │ │ ├── libauborobotcontroller.so │ │ │ ├── libauborobotcontroller.so.1 │ │ │ ├── libauborobotcontroller.so.1.3 │ │ │ └── libauborobotcontroller.so.1.3.1 │ │ │ ├── config │ │ │ ├── libconfig++.a │ │ │ ├── libconfig++.la │ │ │ ├── libconfig++.so │ │ │ ├── libconfig++.so.11 │ │ │ ├── libconfig++.so.11.0.2 │ │ │ ├── libconfig.a │ │ │ ├── libconfig.la │ │ │ ├── libconfig.so │ │ │ ├── libconfig.so.11 │ │ │ ├── libconfig.so.11.0.2 │ │ │ ├── libconfig.so.9 │ │ │ └── libconfig.so.9.2.0 │ │ │ ├── libotgLib.a │ │ │ └── log4cplus │ │ │ ├── liblog4cplus-1.2.so.5 │ │ │ ├── liblog4cplus-1.2.so.5.1.4 │ │ │ └── liblog4cplus.so │ ├── package.xml │ └── src │ │ ├── aubo_driver.cpp │ │ ├── aubo_gazebo_driver.cpp │ │ ├── driver_node.cpp │ │ ├── testAuboAPI.cpp │ │ └── testIO.cpp ├── aubo_gazebo │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── aubo_i10_gazebo_control.yaml │ │ ├── aubo_i3_gazebo_control.yaml │ │ └── aubo_i5_gazebo_control.yaml │ ├── launch │ │ ├── aubo_i10_gazebo_control.launch │ │ ├── aubo_i3_gazebo_control.launch │ │ └── aubo_i5_gazebo_control.launch │ ├── package.xml │ └── urdf │ │ ├── aubo_i10.xacro │ │ ├── aubo_i3.xacro │ │ └── aubo_i5.xacro ├── aubo_i5_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── aubo_i5.srdf │ │ ├── chomp_planning.yaml │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_names.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ └── sensors_3d.yaml │ ├── launch │ │ ├── aubo_i5_moveit_controller_manager.launch │ │ ├── aubo_i5_moveit_controller_manager.launch.xml │ │ ├── aubo_i5_moveit_sensor_manager.launch.xml │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_planning_execution.launch │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── aubo_i5l_moveit_config │ ├── .CMakeLists.txt.swp │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── aubo_i5L_robot.srdf │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── joint_names.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ ├── default_warehouse_mongo_db │ │ ├── local.0 │ │ ├── local.ns │ │ └── mongod.lock │ ├── launch │ │ ├── aubo_i5.rviz │ │ ├── aubo_i5L_robot_moveit_controller_manager.launch.xml │ │ ├── aubo_i5L_robot_moveit_sensor_manager.launch.xml │ │ ├── aubo_i5l_moveit_controller_manager.launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit2.rviz │ │ ├── moveit_planning_execution.launch │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── aubo_kinematics │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── aubo_moveit_plugins.xml │ ├── include │ │ └── aubo_kinematics │ │ │ ├── aubo_moveit_plugin.h │ │ │ └── kinematics.h │ ├── package.xml │ └── src │ │ ├── aubo_moveit_plugin.cpp │ │ └── kinematics.cpp ├── aubo_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── SetIORequest.h │ ├── msg │ │ ├── Analog.msg │ │ ├── Digital.msg │ │ ├── GoalPoint.msg │ │ ├── IOState.msg │ │ ├── JointPos.msg │ │ └── TraPoint.msg │ ├── package.xml │ └── srv │ │ ├── GetFK.srv │ │ ├── GetIK.srv │ │ ├── SetIO.srv │ │ └── SetPayload.srv ├── aubo_planner │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ ├── script │ │ └── aubo_planner │ │ │ ├── __init__.py │ │ │ └── aubo_ros_plan │ └── src │ │ ├── aubo_planner_test.cpp │ │ └── aubo_ros_plan.cpp └── aubo_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── TODO.list │ └── package.xml ├── auboi5_realsense_handeyecalibration_eye_on_hand.yaml ├── control ├── CMakeLists.txt ├── launch │ ├── maubo_control.launch │ ├── maubo_pick_put.launch │ └── rosbag.launch ├── package.xml ├── record_bag.launch ├── rosbag │ └── 2019-10-27-18-15-45.bag ├── scripts │ ├── AuboController.py │ ├── Robotiq2FGripperController.py │ └── gripper_contorl.py └── src │ ├── pick.cpp │ ├── pick2.cpp │ ├── pick3.cpp │ ├── pick4.cpp │ ├── pick5.cpp │ └── tf_camera.cpp ├── doc ├── auboi5_realsense_handeyecalibration_eye_on_hand.yaml ├── config_pose.yaml ├── maruco.launch ├── maubo.launch ├── measy_hand.launch ├── mrealsense.launch └── publish.launch └── robotiq_gripper ├── robotiq_85_description ├── CMakeLists.txt ├── launch │ ├── display.launch │ └── upload_robotiq_85_gripper.launch ├── meshes │ ├── collision │ │ ├── kinova_robotiq_coupler.stl │ │ ├── robotiq_85_base_link.stl │ │ ├── robotiq_85_finger_link.stl │ │ ├── robotiq_85_finger_tip_link.stl │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ └── robotiq_85_knuckle_link.stl │ ├── robotiq_85_coupler.stl │ └── visual │ │ ├── kinova_robotiq_coupler.dae │ │ ├── robotiq_85_base_link.dae │ │ ├── robotiq_85_finger_link.dae │ │ ├── robotiq_85_finger_tip_link.dae │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ └── robotiq_85_knuckle_link.dae ├── package.xml ├── urdf.rviz └── urdf │ ├── kinova_robotiq_85_gripper.xacro │ ├── robotiq_85_gripper.transmission.xacro │ ├── robotiq_85_gripper.urdf.xacro │ ├── robotiq_85_gripper.xacro │ ├── robotiq_85_gripper_sim_base.urdf.xacro │ └── robotiq_85_kinova_coupler.urdf.xacro └── robotiq_driver ├── robotiq ├── CMakeLists.txt └── package.xml ├── robotiq_2f_85_gripper_visualization ├── CMakeLists.txt ├── README.md ├── launch │ └── test_2f_85_model.launch ├── meshes │ ├── collision │ │ ├── robotiq_arg2f_85_base_link.stl │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ └── robotiq_arg2f_base_link.stl │ └── visual │ │ ├── robotiq_arg2f_85_base_link.dae │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ ├── robotiq_arg2f_85_pad.dae │ │ └── robotiq_gripper_coupling.stl ├── package.xml ├── urdf │ ├── robotiq_arg2f.xacro │ ├── robotiq_arg2f_85_model.xacro │ ├── robotiq_arg2f_85_model_macro.xacro │ └── robotiq_arg2f_transmission.xacro └── visualize.rviz ├── robotiq_2f_gripper_action_server ├── CMakeLists.txt ├── include │ └── robotiq_2f_gripper_action_server │ │ └── robotiq_2f_gripper_action_server.h ├── launch │ └── robotiq_2f_gripper_action_server.launch ├── package.xml └── src │ ├── robotiq_2f_gripper_action_server.cpp │ ├── robotiq_2f_gripper_action_server_client_test.cpp │ └── robotiq_2f_gripper_action_server_node.cpp ├── robotiq_2f_gripper_control ├── CMakeLists.txt ├── include │ └── robotiq_2f_gripper_control │ │ └── robotiq_2f_gripper_ethercat_client.h ├── launch │ └── robotiq_2f_gripper_ethercat.launch ├── mainpage.dox ├── msg │ ├── Robotiq2FGripper_robot_input.msg │ └── Robotiq2FGripper_robot_output.msg ├── nodes │ ├── Robotiq2FGripperRtuNode.py │ ├── Robotiq2FGripperSimpleController.py │ ├── Robotiq2FGripperStatusListener.py │ └── Robotiq2FGripperTcpNode.py ├── package.xml ├── setup.py └── src │ └── robotiq_2f_gripper_control │ ├── __init__.py │ ├── baseRobotiq2FGripper.py │ ├── baseRobotiq2FGripper.pyc │ ├── robotiq_2f_gripper_ctrl.py │ ├── robotiq_2f_gripper_ethercat_client.cpp │ └── robotiq_2f_gripper_ethercat_node.cpp ├── robotiq_control ├── CMakeLists.txt ├── launch │ └── robotiq_control_driver.launch └── package.xml ├── robotiq_ethercat ├── CMakeLists.txt ├── README.md ├── include │ └── robotiq_ethercat │ │ └── ethercat_manager.h ├── package.xml └── src │ └── ethercat_manager.cpp ├── robotiq_modbus_rtu ├── CMakeLists.txt ├── mainpage.dox ├── package.xml ├── setup.py └── src │ └── robotiq_modbus_rtu │ ├── __init__.py │ ├── comModbusRtu.py │ └── comModbusRtu.pyc └── 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