youBot_MATLAB

Control of a Kuka youBot from MATLAB using ROS and the Robotics System Toolbox

To use this class it is recommended to configure the ROS_MASTER_URI of your youBot to point at your MATLAB machine then start off by running (in MATLAB)

>> rosinit()

Then on your youBot, launch the basic ROS interface with

$ roslaunch youbot_driver_ros_interface youbot_driver.launch

Now you can use the Youbot class as detailed in the 'help'...

>> help Youbot
 Youbot A class to handle ROS control of a Kuka youBot
    Instansiate the object with the ROS namespace of the youBot, if one
    has been set, otherwise no arguments are needed. For example:

        myYoubot = Youbot('youbot1')

    To move/orient the base of the youBot

        myYoubot.BaseVelocity(xVel, yVel, omega)

    where xVel and yVel are in meters/second and omega is
    radians/second

    To stop the youBot at any time

        myYoubot.Stop()

    To move the arm

        myYoubot.ArmPosition(jointPositions)

    where jointPositions is a 5 element vector containing the
    individual join positions in radians

    To move the arm back to a stowed position

        myYoubot.StowArm()

    To move the gripper to a specific position

        myYoubot.MoveGripper(distance)

    where position is the distance to move each finger in meters

    To open/close the gripper

        myYoubot.OpenGripper()
        myYoubot.CloseGripper()

    Upon destruction of the object, the Stop and StowArm methods are
    called automatically